Multi-Camera Scene Flow by Tracking 3-D Points and Surfels

Frédéric Devernay 1 Diana Mateus 1 Matthieu Guilbert 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : Scene flow represents the 3-D motion of points in the scene, just as optical flow is related to their 2-D motion in the images. As opposed to classical methods which compute scene flow from optical flow, we propose to compute it by tracking 3-D points and surface elements (surfels) in a multi-camera setup (at least two cameras are needed). Two methods are proposed: in the first one, the translation of each 3-D point is found by matching the neighborhoods of its 2-D projections in each camera between two time steps; in the second one, the full pose of a surfel is recovered by matching the image of its projection with a texture template attached to the surfel, and visibility changes caused by occlusion or rotation of surfels are handled. Both methods detect lost or untrackable points and surfels. They were designed for real-time execution and can be used for fast extraction of scene flow from multi-camera sequences.
Type de document :
Communication dans un congrès
International Conference on Computer Vision and Pattern Recognition, 2006, New York, United States. pp.2203- 2212, 2006, <10.1109/CVPR.2006.194>
Liste complète des métadonnées

https://hal.inria.fr/inria-00262285
Contributeur : Frédéric Devernay <>
Soumis le : mardi 11 mars 2008 - 12:13:29
Dernière modification le : mardi 18 mars 2008 - 14:04:06
Document(s) archivé(s) le : jeudi 20 mai 2010 - 21:50:17

Fichier

cvpr06.pdf
Fichiers éditeurs autorisés sur une archive ouverte

Identifiants

Collections

IMAG | INRIA | UGA

Citation

Frédéric Devernay, Diana Mateus, Matthieu Guilbert. Multi-Camera Scene Flow by Tracking 3-D Points and Surfels. International Conference on Computer Vision and Pattern Recognition, 2006, New York, United States. pp.2203- 2212, 2006, <10.1109/CVPR.2006.194>. <inria-00262285>

Partager

Métriques

Consultations de
la notice

293

Téléchargements du document

192