Robust motion estimation is obtained by integrating optical flow and region tracking methods into a closedloop architecture. To ensure robust tracking over long intervals in video image sequences, the system has mechanisms to predict and assess tracking performance. Our application is to constrain the estimation of the 3D motion of a camera.

Optic flow motion analysis represents an important family of visual information processing techniques in computer vision. Segmenting an optic flow field into coherent motion groups and estimating each underlyiiig motion is a very challenging task when the optic flow field is projected from a scene of several independently moving objects. The problem is further complicated if the optic flow data...

Silicon imagers with integrated motion-detection circuitry have been developed and tested for the past 15 years. Many previous circuits estimate motion by identifying and tracking spatial or temporal features. These approaches are prone to failure at low SNR conditions, where feature detection becomes unreliable. An alternate approach to motion detection is an intensity-based spatiotemporal cor...

This paper describes a method to estimate parametric motion models. Motivations for the use of such models are on one hand their efficiency, which has been demonstrated in numerous contexts such as estimation, segmentation, tracking and interpretation of motion, and on the other hand, their low computational cost compared to optical flow estimation. However, it is important to have the best acc...

Robust estimators have become popular tools for solving a wide range of problems in computer vision. Despite many successes in this field, there is still a need for estimators, which are suited to specific problems such as recovering structures from multi-structural data. This paper offers an alternative approach to, and some practical insights into, the implementation of well-known rank orderi...

We consider the problem of controlling the vertical motion of a nonlinear model of a helicopter, while stabilizing the lateral and horizontal position and maintaining a constant attitude. The reference to be tracked is given by a sum of a constant and a fixed number of sinusoidal signals, and it is assumed not to be available to the controller. This represents a possible situation in which the ...

We address in the problem of control-based recovery of robot pose and the environmental lay-out. Panoramic sensors provide us with an 1D projection of characteristic features of a 2D operation map. Trajectories of these projections contain the information about the position of a priori unknown landmarks in the environment. We introduce here the notion of spatiotemporal signatures of projection ...

Estimating vehicle motion using vision sensors in real time has been greatly explored in the past few years due to speed improvements and advances in computer hardware. Six degree of freedom motion estimation using vision information is desirable due to a vision sensors low cost, low power requirements and light weight and for the quality of the solutions that can be obtained using few assumpti...

The sensitivity of MR imaging to motion and susceptibility normally requires that the physician using intraoperative MRI cease surgical activity while image data sets are acquired. We demonstrate that line scan imaging allows the physician to continue operating without the delays caused by imaging. Consequently, patient anesthesia, surgery, and operating room time can be reduced. J. Magn. Reson...

1 This paper presents a robust motion-detector video sensor. It is intended to operate in surveillance applications for long periods of time with time-varying noise level. It makes use of the fact that whenever there is no motion a similarity measure between frames tends to have similar values.