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Journal of the Optical Society of America A

Journal of the Optical Society of America A

| OPTICS, IMAGE SCIENCE, AND VISION

  • Vol. 19, Iss. 2 — Feb. 1, 2002
  • pp: 295–305

Passive navigation from image sequences by use of a volumetric approach

Cressida M. Harding and Richard G. Lane  »View Author Affiliations


JOSA A, Vol. 19, Issue 2, pp. 295-305 (2002)
http://dx.doi.org/10.1364/JOSAA.19.000295


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Abstract

The paper describes a volumetric approach to depth estimation for robot navigation with use of only an approximately calibrated translating camera. Our approach is related to techniques for photo-realistic object reconstruction but with the emphasis on issues associated with navigation. The technique performs three-dimensional matching by a process of image interpolation and can adjust for errors in camera position. The reconstruction is achieved from a small angular range of scene views, and the technique is demonstrated to be insensitive to large errors in the camera positions. The ability to correct for more critical errors such as the camera orientation is shown to significantly improve the algorithm’s performance. Our technique is demonstrated on real image sequences and compares favorably with techniques based on optical flow.

© 2002 Optical Society of America

OCIS Codes
(150.4620) Machine vision : Optical flow
(150.5670) Machine vision : Range finding
(150.6910) Machine vision : Three-dimensional sensing

History
Original Manuscript: September 28, 2000
Revised Manuscript: March 27, 2001
Manuscript Accepted: March 27, 2001
Published: February 1, 2002

Citation
Cressida M. Harding and Richard G. Lane, "Passive navigation from image sequences by use of a volumetric approach," J. Opt. Soc. Am. A 19, 295-305 (2002)
http://www.opticsinfobase.org/josaa/abstract.cfm?URI=josaa-19-2-295

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