Differential techniques for the accurate estimation of image flow

TL;DRAbstract

One of the prime objectives of many robotic systems is the ability to judge depth for self navigation. This depth or range information in a three-dimensional scene has traditionally been obtained from point correspondences in static two-dimensional images, a process often known as photogrammetry. This approach has the major difficulty that point pairs corresponding to a common three-dimensional scene point are not easy to identify automatically in images. In more recent years a wide range of alternative approaches for estimating depth have emerged. One such group of techniques makes use of multiple images from a single moving sensor. Known as shape from motion algorithms, they often employ a three step process to estimating depth. The first step involves estimating the optical or image flow. The second step then estimates the global motion parameters of the image sensor from the image flow. The final step involves estimating the relative depth from the image flow and motion parameters.

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