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Dynamic Perspec - Ve: How A Moving Camera Reveals Scene Depth and Egomo - On Parameters

This document discusses how the motion of a camera reveals depth information in a scene from optical flow. It defines optical flow as the movement of a point's projection in an image plane when the point moves relative to the camera. The document derives an equation relating optical flow to scene depth and the camera's motion parameters like translation and rotation. It shows that the translational component of optical flow is most important for determining depth and translation, while the rotational component reveals information about rotation. The key points are that optical flow is proportional to position for pure translation, and flow vectors radiate outward from the focus of expansion for general translation.

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Elisée Ndjabu DH
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30 views22 pages

Dynamic Perspec - Ve: How A Moving Camera Reveals Scene Depth and Egomo - On Parameters

This document discusses how the motion of a camera reveals depth information in a scene from optical flow. It defines optical flow as the movement of a point's projection in an image plane when the point moves relative to the camera. The document derives an equation relating optical flow to scene depth and the camera's motion parameters like translation and rotation. It shows that the translational component of optical flow is most important for determining depth and translation, while the rotational component reveals information about rotation. The key points are that optical flow is proportional to position for pure translation, and flow vectors radiate outward from the focus of expansion for general translation.

Uploaded by

Elisée Ndjabu DH
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Dynamic

 Perspec.ve  
How  a  moving  camera  reveals  scene  
depth  and  egomo.on  parameters  
 
Jitendra  Malik  
UC  Berkeley  
 
The  Pinhole  Camera  

y  
x  

𝑥=−​𝑓𝑋/𝑍               𝑦=−​𝑓𝑌/𝑍   
Suppose  the  camera  moves  with  
respect  to  the  world…  
•  When  a  point  (X,Y,Z)  in  the  world  moves  
rela.ve  to  the  camera,  its  projec.on  in  the  
image  (x,y)  moves  as  well.  
•  This  movement  in  the  image  plane  is  called  
op.cal  flow.  Suppose  the  point  (x,y)  moves  to  
(x+∆x,  y+∆y)  in  .me  ∆t,  then    
                                             𝑢=​Δ𝑥/Δ𝑡   ,  𝑣=  ​Δ𝑦/Δ𝑡     

are  the  two  components  of  the  op.cal  flow  


at  (x,y)  
Gibson’s  example  I:  
Op.cal  flow  for  a  pilot  landing  a  plane  
Gibson’s  example  II:  
Op.cal  flow  from  the  side  window  of  a  car  
Outline    
•  Derive  equa.on  rela.ng  op.cal  flow  field  to  
scene  depth  Z(x,y)  and  the  mo.on  of  the  
camera  t,  ω  
•  The  transla.onal  component  of  the  flow  field  
is  the  more  important  one  –  it  is  what  tells  
Z(x,y)  and  the  transla.on  t  
•  The  rota.onal  component  of  the  flow  field  
reveals  informa.on  about  ω  
How  does  a  point  X  in  the  scene  move?  
Now  consider  the  effect  of  projec.on…  
Now  consider  the  effect  of  
projec.on…  
The  Op.cal  Flow  Equa.ons  
Op.cal  flow  for  pure  transla.on  
Op.cal  flow  for  pure  transla.on  along  Z  axis  
Op.cal  flow  for  pure  transla.on  along  Z-­‐axis  

The  op.cal  flow  vector  is  a  scalar  mul.ple  of  the  


posi.on  vector  
Scale  Factor  Ambiguity  

However  we  can  compute  the  .me  to  contact  


Op.cal  flow  for  general  transla.on  

When  is  this  (0,0)?    


With  respect  to  the  FOE,  the  flow  
vectors  are  radially  outward  
The  Op.cal  Flow  Equa.ons  

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