loading...
 This Article 
   
 Share 
   
 Bibliographic References 
   
 Add to: 
 
Digg
Furl
Spurl
Blink
Simpy
Google
Del.icio.us
Y!MyWeb
 
 Search 
   
Direct Computation of Qualitative 3-D Shape and Motion Invariants
December 1991 (vol. 13 no. 12)
pp. 1236-1240
ASCII Text
x 
 
D. Weinshall, "Direct Computation of Qualitative 3-D Shape and Motion Invariants," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 13, no. 12, pp. 1236-1240, December, 1991.
 
 
BibTex
x
 
@article{ 10.1109/34.106997,
author = {D. Weinshall},
title = {Direct Computation of Qualitative 3-D Shape and Motion Invariants},
journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence},
volume = {13},
number = {12},
issn = {0162-8828},
year = {1991},
pages = {1236-1240},
doi = {http://doi.ieeecomputersociety.org/10.1109/34.106997},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - JOUR
JO - IEEE Transactions on Pattern Analysis and Machine Intelligence
TI - Direct Computation of Qualitative 3-D Shape and Motion Invariants
IS - 12
SN - 0162-8828
SP1236
EP1240
EPD - 1236-1240
A1 - D. Weinshall,
PY - 1991
KW - picture processing; pattern recognition; structure from motion; 3D shape invariants; 3D motion invariants; depth map; matched images; local surface patches; convex; concave; cylindrical; hyperbolic; saddle point; planar; optical flow; focus of expansion; pattern recognition; picture processing
VL - 13
JA - IEEE Transactions on Pattern Analysis and Machine Intelligence
ER -
 

Structure from motion often refers to the computation of three-dimensional structure from a matched sequence of images. However, a depth map of a surface is difficult to compute and may not be a good representation for storage and recognition. Given matched images it is shown that the sign of the normal curvature in a given direction at a given point in the image can be computed from a simple difference of slopes of line segments in one image. Using this result, local surface patches can be classified as convex, concave, cylindrical, hyperbolic (saddle point), or planar. At the same time, the translational component of the optical flow, from which the focus of expansion can be computed, is obtained.

[1] T. O. Binford, "Generalized cylinders representation," inEncyclopedia of Artificial Intelligence(S. C. Shapiro, Ed.). New York: Wiley, 1987, pp. 321-323.
[2] A. Blake, A. Zisserman, and G. Knowles, "Surface descriptions from stereo and shading," inShape from Shading(B. K. P. Horn and M. J. Brooks, Eds.). Cambridge, MA: MIT Press, 1989, pp. 29-52.
[3] J. J. Koenderink and A. J. van Doorn, "Local structure of movement parallax of the plane,"J. Opt. Soc. Amer., vol. 66, pp. 717-723, 1976.
[4] J. J. Koenderink and A. J. van Doorn, "The shape of smooth objects and the way contours end,"Perception, vol. 11, pp. 129-137, 1982.
[5] H. C. Longuet-Higgins, "A computer algorithm for reconstructing a scene from two projections,Nature, vol. 293, pp. 133-135, 1981.
[6] R. C. Nelson, "Qualitative detection of motion by a moving observer, inAAAI-90 Workshop Qualitative Vision, July 1990, pp. 16-20.
[7] T. Poggio, V. Torre, and C. Koch, "Computational vision and regularization theory,"Nature, vol. 317, pp. 314-319, 1985.
[8] R. Y. Tsai and T. S. Huang, "Uniqueness and estimation of three dimensional motion parameters of rigid objects with curved surfaces,"IEEE Trans. Patt. Anal. Machine Intell., vol. 6, pp. 13-27, 1984.
[9] S. Ullman, "Computational studies in the interpretation of structure and motion: Summary and extension," inHuman and Machine Vision(J. Beck, B. Hope, and A. Rosenfeld, Eds.). New York: Academic, 1983.
[10] D. Weinshall, "Direct computation of 3d shape and motion invariants," Tech. Rep. AI Memo 1131, Artificial Intell. Lab., Mass. Inst. Technol., 1989.

Index Terms:
picture processing; pattern recognition; structure from motion; 3D shape invariants; 3D motion invariants; depth map; matched images; local surface patches; convex; concave; cylindrical; hyperbolic; saddle point; planar; optical flow; focus of expansion; pattern recognition; picture processing
Citation:
D. Weinshall, "Direct Computation of Qualitative 3-D Shape and Motion Invariants," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 13, no. 12, pp. 1236-1240, Dec. 1991, doi:10.1109/34.106997
Usage of this product signifies your acceptance of the Terms of Use.