This paper presents a robust phase correlation technique and a compound phase correlation method for reliable sub-pixel image feature matching and motion estimation. A phase fringe filter and a highly robust estimator QMDPE are used to improve the fitting accuracy of the phase difference plane in Fourier domain. A compound phase correlation method is proposed to identify and decompose the multi...

This paper presents a robust method to solve the two coupled problems: ground layer detection and vehicle egomotion estimation, which appear in visual navigation. We virtually rotate the camera to the downward-looking pose in order to exploit the fact that the vehicle motion is roughly constrained to be planar motion on the ground. This camera geometry transformation, together with planar motio...

Across two experiments, this study investigated the spatial frequency tuning and orientation tuning (both in the disparity domain) of the stereoscopic (cyclopean) motion aftereffect. In Experiment 1, observers adapted to a moving stereoscopic grating of a given cyclopean spatial frequency and tested for the motion aftereffect with a static grating of the same or different spatial frequency. Rob...

This paper presents a robust algorithm for segmentation of moving objects in video, that first solves the global camera motion estimation problem and then processing the local object motion using the global motion parameters. This is work in progress. Key Words-Camera motion, global motion, extraction, segmentation

In object tracking, visual features may not be discriminative enough to estimate high dimensional motion parameters accurately, and complex motion estimation is computationally expensive due to a large search space. To tackle these problems, a reasonable strategy is to track small components within the target independently in lower dimensional motion parameter spaces (e.g., translation only) an...

The dimensionality of visual motion analysis can be reduced by analyzing projections of ow vector elds. In contrast to motion vector elds, these projections exhibit simple geometric properties which are invariant to the scene structure and depend only on the camera motion. Using these properties , structure and motion can be either completely or partially decoupled. We estimate motion parameter...

Simultaneous 3D human shape estimation and motion tracking is a very challenging problem. Given the complicated nature of human shape and motion, it can be very difficult to perform robust tracking of body parts without using a motion or shape model. Modelling the human body as rigid parts linked in a kinematic structure is a simple yet reasonably accurate model for tracking purposes. Optical f...

The dimensionality of visual motion analysis can be reduced by analyzing projections of ow vector elds. In contrast to motion vector elds, these projections exhibit simple geometric properties which are invariant to the scene structure and depend only on the camera motion. Using these properties, structure and motion can be either completely or partially decoupled. We estimate motion parameters...

|When a mobile robot executes a given task in human-robot co-existence environment, it is necessary for the robot to perform robust motions and to have abilities to deal with unforeseen situations. Therefore we aim to realize an intelligent and robust motion for a dual-arm mobile manipulator. To carry out a research of intelligent motion, we set a concrete task as \grasping a book and returning...