Reducing "Structure From Motion": a General Framework for Dynamic Vision - Part 2: Experimental Evaluation

Soatto, Stefano and Perona, Pietro (1996) Reducing "Structure From Motion": a General Framework for Dynamic Vision - Part 2: Experimental Evaluation. Technical Report. California Institute of Technology, Pasadena, CA. [CaltechCDSTR:1996.002]

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Abstract

A number of methods have been proposed in the literature for estimating scene-structure and ego-motion from a sequence of images using dynamical models. Although all methods may be derived from a "natural" dynamical model within a unified framework, from an engineering perspective there are a number of trade-offs that lead to different strategies depending upon the specific applications and the goals one is targeting. Which one is the winning strategy? In this paper we analyze the properties of the dynamical models that originate from each strategy under a variety of experimental conditions. For each model we assess the accuracy of the estimates, their robustness to measurement noise, sensitivity to initial conditions and visual angle, effects of the bas-relief ambiguity and occlusions, dependence upon the number of image measurements and their sampling rate.

EPrint Type:	Monograph (Technical Report)
Uncontrolled Keywords:	Visual motion estimation, epipolar geometry, motion decoupling, fixation, parallax, model reduction, implicit Extended Kalman Filter
Subjects:	All Records
ID Code:	137
Deposited By:	Caltech Library System
Deposited On:	20 October 2006
Unique Identifier:	CaltechCDSTR:1996.002
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:1996.002
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

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