Analysis of Structure and Motion from Optical Flow. Part 1. Orthographic Projection. Revision
MARYLAND UNIV COLLEGE PARK CENTER FOR AUTOMATION RESEARCH
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The 3D structure and motion of an object is determined from its optical flow under orthrographic projection. First, the image domain is divided into planar or almost planar regions by checking the flow. For each region, parameters of the flow are determined. Transformation rules under coordinate changes and hydrodynamic analogies are also discussed. the 3D structure and motion are determined in explicit forms in terms of irreducible parameters deduced from group representation theory. The solution is not unique, containing an indeterminate scale factor and comprising true and spurious solutions. Their geometrical interpretations are also studied. The spurious solution disappears if two or more regions of the object are observed.
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