Abstract
An advantage of stereovision-based motion analysis is that the depth information is available, thus motion can be estimated more precisely in D stereo coordinate system (SCS) constructed by the depth and the image coordinates. In this paper, stereo global motion in SCS, which is induced by 3D camera motion in real-world coordinate system (WCS), is parameterized by a five-parameter global motion model (GMM). Based on such model, global motion can be estimated and identified directly in SCS without knowing the physical parameters about camera motion and camera setup in WCS. The reconstructed global motion field accords with the spatial structure of the scene much better. Experiments on both synthetic data and real-world images illustrate its promising performance.
Highlights
The advantage of stereovision-based motion analysis is that the depth/disparity information can be computed
This paper, by expressing the 2.5D space as stereo coordinate system (SCS), addresses the problem of global motion modeling in SCS
The proposed Global motion model (GMM) has been tested on both synthetic data, in which we know the camera motion parameters and corresponding pixel pairs exactly, and a variety of real-world images with unknown camera motion parameters
Summary
The advantage of stereovision-based motion analysis is that the depth/disparity information can be computed. A five-parameter stereo GMM is proposed to parameterize global motion in SCS based on the analysis of 3D camera motion. Different from the previous works aiming to recover the physical parameters of camera motion in real-world coordinate system (WCS) [4,5,6,7,8], the presented model pays more attention to the fast distinguishing of global motion and local motion directly from stereo data. The proposed model is provided as a tool for stereo-motion analysis where disparity can be fast calculated It is very useful for many stereovision-based real-time applications, such as surveillance, robot vision, especially of our research on stereovisionbased adaptive cruise control (ACC) systems [9]
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