Abstract

The paper describes a volumetric approach to depth estimation for robot navigation with use of only an approximately calibrated translating camera. Our approach is related to techniques for photo-realistic object reconstruction but with the emphasis on issues associated with navigation. The technique performs three-dimensional matching by a process of image interpolation and can adjust for errors in camera position. The reconstruction is achieved from a small angular range of scene views, and the technique is demonstrated to be insensitive to large errors in the camera positions. The ability to correct for more critical errors such as the camera orientation is shown to significantly improve the algorithm’s performance. Our technique is demonstrated on real image sequences and compares favorably with techniques based on optical flow.

© 2002 Optical Society of America

Structure from motion: determining the range and orientation of surfaces by image interpolation

M. G. Nagle and M. V. Srinivasan
J. Opt. Soc. Am. A 13(1) 25-34 (1996)

Integral imaging techniques for flexible sensing through image-based reprojection

Jose M. Sotoca, Pedro Latorre-Carmona, Filiberto Pla, Xin Shen, Satoru Komatsu, and Bahram Javidi
J. Opt. Soc. Am. A 34(10) 1776-1786 (2017)

Optical high-precision three-dimensional vision-based quality control of manufactured parts by use of synthetic images and knowledge for image-data evaluation and interpretation

Pierre Graebling, Alex Lallement, Da-Yi Zhou, and Ernest Hirsch
Appl. Opt. 41(14) 2627-2643 (2002)

Image interpolation technique for measurement of egomotion in 6 degrees of freedom

M. G. Nagle, M. V. Srinivasan, and D. L. Wilson
J. Opt. Soc. Am. A 14(12) 3233-3241 (1997)

Iterative color constancy with temporal filtering for an image sequence with no relative motion between the camera and the scene

Josemar Simão, Hans Jörg Andreas Schneebeli, and Raquel Frizera Vassallo
J. Opt. Soc. Am. A 32(11) 2033-2043 (2015)