Simultaneous motion, depth and slope estimation with a camera-grid
Hanno Scharr, Tobias Schuchert · JuSER (Forschungszentrum Jülich) · 2006
Standard optical flow methods are very success-ful for displacement estimation in image sequences using a brightness change constraint equation (BCCE). Recently a multi-camera generalization of the brightness constancy model has been proposed in [22] and tested for several special cases. The complete, unrestricted model has not been investi-gated yet. This paper bridges this gap and gives ad-ditional detail for the derivation of the model and an appropriately adapted total least squares (TLS) pa-rameter estimation. We use 1d or 2d camera grids acquiring a 4 or 5 dimensional data set, i.e. spatio-temporal data coming from each camera with one or two additional dimensions for the camera posi-tion. From such a data set for each surface patch 3d motion, 3d position, and surface normals are es-timated simultaneously using a weighted TLS es-timation scheme. The implications coming from the 2d or 3d nullspace of the occurring data-matrix of the system of equations are presented in detail. In experiments we test the performance of this ap-proach. 1