Local translational decomposition under rigid body motion

Warren F. Gardner; Daryl T. Lawton

doi:10.1117/12.155086

3 September 1993 Local translational decomposition under rigid body motion

Warren F. Gardner, Daryl T. Lawton

Proceedings Volume 1956, Sensor Fusion and Aerospace Applications; (1993) https://doi.org/10.1117/12.155086
Event: Optical Engineering and Photonics in Aerospace Sensing, 1993, Orlando, FL, United States

Abstract

In previous work we introduced a description of image motion called the local translational decomposition (LTD). This representation associates with image features or small image areas, a 3D unit vector describes the direction of motion of the corresponding environmental feature of small surface area. The LTD representation was shown to considerably simplify the inference of motion parameters for ego-motion. This paper exploits the rigidity constraint in order to determine the relative depth between LTD vectors. Using the rigidity constraint, along with a local surface planarity assumption, an improved LTD estimation algorithm is constructed. The effectiveness of this algorithm is demonstrated by applying it to the problem of reconstructing 3D environmental surfaces.

Citation Download Citation

Warren F. Gardner and Daryl T. Lawton "Local translational decomposition under rigid body motion", Proc. SPIE 1956, Sensor Fusion and Aerospace Applications, (3 September 1993); https://doi.org/10.1117/12.155086

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