Planar motion is an important and frequently occurring situation in mobile robotics applications. This thesis concerns estimation of ego-motion and pose of a single downwards oriented camera under the assumptions of planar motion and known internal camera parameters. The so called essential matrix (or its uncalibrated counterpart, the fundamental matrix) is frequently used in computer vision ap...

We consider performance evaluation of the state-of the-art solution for recovering the relative pose between two calibrated views. Our focus is on planar scenes which are not tractable by algorithms which do not enforce the so-called calibrated constraint. The capability to cope with planar scenes has therefore been stressed as an important advantage of the novel five-point algorithm. However, ...

The effects of surface markings on perceived motion direction were examined for a rotating sphere in a structure-from-motion display. The markings were dot patterns representing separate line segments or intersecting line segments (crosses) covering the surface of the sphere. The orientation of the surface markings and their intersection angles affected the perceived direction of motion, sugges...

Motion discrimination space is conventionally categorized into motion detection, speed discrimination, and direction discrimination tasks. But an ideal observer uses a unitary motion mechanism that is affected only by the noise level and the difference in speed (or displacement) between two stimuli. We tested whether human performance in the various motion tasks showed the working of a unitary ...

Motion processing regions apart from V5+/MT+ are still relatively poorly understood. Here, we used functional magnetic resonance imaging to perform a detailed functional analysis of the recently described cingulate sulcus visual area (CSv) in the dorsal posterior cingulate cortex. We used distinct types of visual motion stimuli to compare CSv with V5/MT and MST, including a visual pursuit parad...

This paper describes an experimental testing apparatus set up by the authors in order to validate the effectiveness of the motion input pre-shaping technique for the open-loop control in microgravity environment. The system consists of a two flexible links planar manipulator suspended on special air-pads floating on a planar friction-free glass surface. Since the friction between the two pads m...

We present a method to simultaneously reconstruct the shape and motion of an unknown smooth convex object. The object is manipulated by planar palms covered with tactile elements. The shape and dynamics of the object can be expressed as a function of the sensor values and the motion of the palms. We present a brief review of previous results for the planar case. In this paper we show that the 3...

The human visual system can recover the 3-D shape of moving objects on the basis of motion information alone. Computational studies of this capacity have considered primarily non-planar rigid objects. With respect to moving planar surfaces, previous studies have shown that the planar velocity field has in general a two-fold ambiguity: there are two different planes engaged in different motions ...

This paper deals with the motion interpolation of an object that satisfies the kinematic constraints imposed by planar 6R closed chains. The paper brings together the well-known kinematics of planar 6R closed chains and the freeform rational motions to synthesize the constrained piecewise rational motions in the Cartesian space. The methodology adopted in this paper is based on transforming the...

We present a new compression algorithm for video sequences of indoor scenes, or more generally, sequences containing mostly planar and near-planar surfaces. Our approach utilizes edge and optical flow information in order to segment selected keyframes into regions of general shape, such that the motion of each region is predicted well by a planar homography. With this kind of motion prediction,...