This Article 
   
 Share 
   
 Bibliographic References 
   
 Add to: 
 
Digg
Furl
Spurl
Blink
Simpy
Google
Del.icio.us
Y!MyWeb
 
 Search 
   
Direct Recovery of Planar-Parallax from Multiple Frames
November 2002 (vol. 24 no. 11)
pp. 1528-1534

Abstract—In this paper, we present an algorithm that estimates dense planar-parallax motion from multiple uncalibrated views of a 3D scene. This generalizes the "plane+parallax" recovery methods to more than two frames. The parallax motion of pixels across multiple frames (relative to a planar surface) is related to the 3D scene structure and the camera epipoles. The parallax field, the epipoles, and the 3D scene structure are estimated directly from image brightness variations across multiple frames, without precomputing correspondences.

[1] J.R. Bergen, P. Anandan, K.J. Hanna, and R. Hingorani, “Hiercharchical Model-Based Motion Estimation,” Proc. European Conf. Computer Vision, pp. 237-252, 1992.
[2] T. Brodsky and C. Fermüller, and Y. Aloimonos, “Shape from Video,” Proc. IEEE Conf. Computer Vision and Pattern Recognition, vol. B, pp. 146-15, June 1999.
[3] C. Criminisi, I. Reid, and Z. Zisserman, “Duality, Rigidity, and Planar Parallax,” Proc. European Conf. Computer Vision, vol. II, 1998.
[4] K. Hanna, "Direct Multi-Resolution Estimation of Ego-Motion and Structure from Motion," IEEE Workshop Visual Motion, pp. 156-162,Princeton, N.J., Oct. 1991.
[5] K.J. Hanna and N.E. Okamoto, “Combining Stereo and Motion for Direct Estimation of Scene Structure,” Proc. Int'l Conf. Computer Vision, pp. 357-365, 1993.
[6] R.I. Hartley, In Defense of the 8-Point Algorithm IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 19, no. 6, pp. 580-593, June 1997.
[7] B.K.P. Horn and B.G. Schunk, “Determining Optical Flow,” Artificial Intelligence, vol. 17, nos. 1-3, pp. 185-203, Aug. 1981.
[8] B.K.P. Horn and E.J. Weldon, “Direct Methods for Recovering Motion,” Int'l J. Computer Vision, vol. 2, no. 1, pp. 51-76, June 1988.
[9] M. Irani, B. Rousso, and S. Peleg, “Computing Occluding and Transparent Motions,” Int'l J. Computer Vision, vol. 12, no. 1, pp. 5-16, Jan. 1994.
[10] M. Irani and P. Anandan, “Parallax Geometry of Pairs of Points for 3D Scene Analysis,” Proc. European Conf. Computer Vision, A, pp. 17-30, Apr. 1996.
[11] M. Irani, P. Anandan, and M. Cohen, “Direct Recovery of Planar-Parallax from Mulitple Frames,” Proc. Workshop Vision Algorithms, Sept. 1999.
[12] M. Irani, B. Rousso, and P. Peleg, “Recovery of Ego-Motion Using Region Alignment,” IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 19, no. 3, pp. 268-272, Mar. 1997.
[13] M. Irani, P. Anandan, and D. Weinshall, “From Reference Frames to Reference Planes: Multi-View Parallax Geometry and Applications,” Proc. European Conf. Computer Vision, vol. II, pp. 829-845, 1998.
[14] M. Irani and P. Anandan, “A Unified Approach to Moving Object Detection in 2D and 3D Scenes,” IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 20, no. 6, pp. 577-589, June 1998.
[15] R. Kumar, P. Anandan, and K. Hanna, “Direct Recovery of Shape from Multiple Views: A Parallax Based Approach,” Proc. Int'l Conf. Pattern Recognition, pp. 685-688, Oct. 1994.
[16] H.C. Longuet-Higgins and K. Prazdny, “The Interpretation of a Moving Retinal Image,” Proc. Royal Soc. London B, vol. 208, pp. 385-397, 1980.
[17] B.D. Lucas and T. Kanade, “An Iterative Image Registration Technique with an Application to Stereo Vision,” Proc. Seventh Int'l Joint Conf. Artificial Intelligence, pp. 121-130, 1981.
[18] S. Negahdaripour and B.K.P. Horn, “Direct Passive Navigation,” IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 9, no. 1, pp. 168-176, Jan. 1987.
[19] H.S. Sawhney, "3D Geometry From Planar Parallax," Proc. CVPR '94, pp. 929-934, 1994.
[20] A. Shashua and N. Navab, "Relative Affine Structure: Theory and Application to 3D Reconstruction From Perspective Views," Proc. CVPR '94, pp. 483-489, 1994.
[21] G.P. Stein and A. Shashua, “Model-Based Brightness Constraints: On Direct Estimation of Structure and Motion,” Proc. IEEE Conf. Computer Vision and Pattern Recognition, pp. 400-406, 1997.
[22] R. Szeliski and S.B. Kang, “Direct Methods for Visual Scene Reconstruction,” Proc. Workshop Representations of Visual Scenes, 1995.
[23] P.H.S. Torr, “Geometric Motion Segmentation and Model Selection,” Proc. Royal Soc. London A, vol. 356, pp. 1321-1340, 1998.
[24] Z. Zhang, “Determining the Epipolar Geometry and Its Uncertainty—A Review,” Int'l J. Computer Vision, vol. 27, no. 2, pp. 161-195, 1998.

Index Terms:
Plane+parallax, direct (gradient-based) methods, multiframe analysis, correspondence estimation, structure from motion.
Citation:
Michal Irani, P. Anandan, Meir Cohen, "Direct Recovery of Planar-Parallax from Multiple Frames," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 24, no. 11, pp. 1528-1534, Nov. 2002, doi:10.1109/TPAMI.2002.1046174
Usage of this product signifies your acceptance of the Terms of Use.