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Applied Optics

Applied Optics

APPLICATIONS-CENTERED RESEARCH IN OPTICS

  • Editor: Joseph N. Mait
  • Vol. 53, Iss. 3 — Jan. 20, 2014
  • pp: 368–375

Range and egomotion estimation from compound photodetector arrays with parallel optical axis using optical flow techniques

J. S. Chahl  »View Author Affiliations


Applied Optics, Vol. 53, Issue 3, pp. 368-375 (2014)
http://dx.doi.org/10.1364/AO.53.000368


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Abstract

This paper describes an application for arrays of narrow-field-of-view sensors with parallel optical axes. These devices exhibit some complementary characteristics with respect to conventional perspective projection or angular projection imaging devices. Conventional imaging devices measure rotational egomotion directly by measuring the angular velocity of the projected image. Translational egomotion cannot be measured directly by these devices because the induced image motion depends on the unknown range of the viewed object. On the other hand, a known translational motion generates image velocities which can be used to recover the ranges of objects and hence the three-dimensional (3D) structure of the environment. A new method is presented for computing egomotion and range using the properties of linear arrays of independent narrow-field-of-view optical sensors. An approximate parallel projection can be used to measure translational egomotion in terms of the velocity of the image. On the other hand, a known rotational motion of the paraxial sensor array generates image velocities, which can be used to recover the 3D structure of the environment. Results of tests of an experimental array confirm these properties.

© 2014 Optical Society of America

OCIS Codes
(150.4620) Machine vision : Optical flow
(150.5670) Machine vision : Range finding
(110.4153) Imaging systems : Motion estimation and optical flow
(330.7324) Vision, color, and visual optics : Visual optics, comparative animal models

ToC Category:
Vision, Color, and Visual Optics

History
Original Manuscript: August 14, 2013
Revised Manuscript: December 5, 2013
Manuscript Accepted: December 6, 2013
Published: January 15, 2014

Citation
J. S. Chahl, "Range and egomotion estimation from compound photodetector arrays with parallel optical axis using optical flow techniques," Appl. Opt. 53, 368-375 (2014)
http://www.opticsinfobase.org/ao/abstract.cfm?URI=ao-53-3-368

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