Analysis Of A Sequence Of Stereo Scenes Containing Multiple Moving Objects Using Rigidity Constraints

Iri this paper, we describe a method for comput.ing the rriovc~rrient. of objects as well as that of a mobile robot from ii scqiicrice of stereo frames. Stereo frames are obtained at ~iifl’(~reiit, instants by a stereo rig, when the mobile robot rIilvigat(>s in an unknown environment possibly containing ~)iiit: rrioving rigid objects. An approach based on rigidity ( oiihlraiiit,s is presented for registering two stereo frames. Wcs dernoristrate how the uncertainty of measurements can IN^ integrated with the formalism of the rigidity constraints. A iiew technique is described to match very noisy segments. ‘1‘11~ iiifluence of egomotion on observed movement:; of ob,j(~ 1,s is discussed in detail. Egomotion is fir:jt determined itiid then eliminated before determination of the motion of o1)jt:cl.s. The proposed algorithm is completely automatic. I~:xperirnerital results are provided. Some remarks conclude ths paper.

[1]  Narendra Ahuja,et al.  3-D Motion Estimation, Understanding, and Prediction from Noisy Image Sequences , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[2]  Jake K. Aggarwal,et al.  Analysis of a sequence of images using point and line correspondences , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[3]  Olivier D. Faugeras,et al.  Maintaining representations of the environment of a mobile robot , 1988, IEEE Trans. Robotics Autom..

[4]  Berthold K. P. Horn.  Robot vision , 1986, MIT electrical engineering and computer science series.

[5]  S. Ullman.  The Interpretation of Visual Motion , 1979 .

[6]  Alan M. Wood,et al.  Motion analysis , 1986 .

[7]  N. Ayache,et al.  Trinocular Stereovision: Recent Results , 1987, IJCAI.

[8]  Olivier D. Faugeras,et al.  Building visual maps by combining noisy stereo measurements , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[9]  E. D. Dickmanns,et al.  4 D-dynamic scene analysis with integral spatio-temporal models , 1988 .