C-velocity: A cumulative frame to segment objects from egomotion
Samia Bouchafa, Bertrand Zavidovique · Pattern Recognition and Image Analysis · 2009
This paper deals with extracting 3D-planar structures of a moving scene from a 2D-image sequence. The camera is assumed on board a vehicle moving straight so that the dominant apparent motion generates a scale change along images. We introduce the concept of c -velocity space. That is a cumulative frame in which planar surfaces are transformed into straight lines. Equations ruling the phenomenon are given and explained. Then results on synthetic images are shown to meet the theory. Eventually results on real data are commented on as for the uncertainty introduced by the location of the FOE and other types of noise. The article is published in the original.