The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Just as optical flow is the two-dimensional motion of points in an image, scene flow is the three-dimensional motion of points in the world. The fundamental difficulty with optical flow is that only the normal flow can be computed directly from the image measurements, without some form of smoothing or regularization. In this paper, we begin by showing that the same fundamental limitation applies to scene flow, however many cameras are used to image the scene. There are then two choices when computing scene flow: (1) perform the regularization in the images, or (2) perform the regularization on the surface of the object in the scene. In this paper, we choose to compute scene flow using regularization in the images. We describe three algorithms, the first two for computing scene flow from optical flows, the third for constraining scene structure from the inconsistencies in multiple optical flows.

Keywords

Scene flow, three-dimensional dense

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Lab(s) / Group(s): Vision for Virtual Environments and Virtualized Reality^TM

Associated Project(s): Spatio-Temporal View Interpolation and Scene Flow

Number of pages: 17

Text Reference

Sundar Vedula, Simon Baker, Peter Rander, Robert Collins, and Takeo Kanade, "Three-Dimensional Scene Flow," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 27, No. 3, March, 2005, pp. 475 - 480.

BibTeX Reference

@article{Vedula_2005_4772,
   author = "Sundar Vedula and Simon Baker and Peter Rander and Robert Collins and Takeo Kanade",
   title = "Three-Dimensional Scene Flow",
   journal = "IEEE Transactions on Pattern Analysis and Machine Intelligence",
   pages = "475 - 480",
   month = "March",
   year = "2005",
   volume = "27",
   number = "3",
}

The Robotics Institute

Menu