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Recovery of Ego-Motion Using Region Alignment
March 1997 (vol. 19 no. 3)
pp. 268-272
ASCII Text
x 
 
Michal Irani, Benny Rousso, Shmuel Peleg, "Recovery of Ego-Motion Using Region Alignment," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 19, no. 3, pp. 268-272, March, 1997.
 
 
BibTex
x
 
@article{ 10.1109/34.584105,
author = {Michal Irani and Benny Rousso and Shmuel Peleg},
title = {Recovery of Ego-Motion Using Region Alignment},
journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence},
volume = {19},
number = {3},
issn = {0162-8828},
year = {1997},
pages = {268-272},
doi = {http://doi.ieeecomputersociety.org/10.1109/34.584105},
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 - Recovery of Ego-Motion Using Region Alignment
IS - 3
SN - 0162-8828
SP268
EP272
EPD - 268-272
A1 - Michal Irani,
A1 - Benny Rousso,
A1 - Shmuel Peleg,
PY - 1997
KW - Motion analysis
KW - ego motion
KW - video stabilization
KW - plane-plus-parallax.
VL - 19
JA - IEEE Transactions on Pattern Analysis and Machine Intelligence
ER -
 

Abstract—A method for computing the 3D camera motion (the ego-motion) in a static scene is described, where initially a detected 2D motion between two frames is used to align corresponding image regions. We prove that such a 2D registration removes all effects of camera rotation, even for those image regions that remain misaligned. The resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). The 3D camera translation is recovered from the epipolar field. The 3D camera rotation is recovered from the computed 3D translation and the detected 2D motion. The decomposition of image motion into a 2D parametric motion and residual epipolar parallax displacements avoids many of the inherent ambiguities and instabilities associated with decomposing the image motion into its rotational and translational components, and hence makes the computation of ego-motion or 3D structure estimation more robust.

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Index Terms:
Motion analysis, ego motion, video stabilization, plane-plus-parallax.
Citation:
Michal Irani, Benny Rousso, Shmuel Peleg, "Recovery of Ego-Motion Using Region Alignment," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 19, no. 3, pp. 268-272, Mar. 1997, doi:10.1109/34.584105
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