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

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...

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Bibliographic Details
Main Authors: Devernay, F., Mateus, D., Guilbert, M.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Fluid flow measurement
Image motion analysis
Image reconstruction
Layout
Optical computing
Passive optical networks
Stereo image processing
Surface reconstruction
Three dimensional displays
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Description
Summary: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.
ISSN:1063-6919
DOI:10.1109/CVPR.2006.194