Experiments in the Machine Interpretation of Visual Motion

If robots are to act intelligently in everyday environments, they must
have a perception of motion and its consequences. This book describes experimental
advances made in the interpretation of visual motion over the last few years that
have moved researchers closer to emulating the way in which we recover information
about the surrounding world. It describes algorithms that form a complete,
implemented, and tested system developed by the authors to measure two-dimensional
motion in an image sequence, then to compute three-dimensional structure and motion,
and finally to recognize the moving objects.

The authors develop
algorithms to interpret visual motion around four principal constraints. The first
and simplest allows the scene structure to be recovered on a pointwise basis. The
second constrains the scene to a set of connected straight edges. The third makes
the transition between edge and surface representations by demanding that the
wireframe recovered is strictly polyhedral. And the final constraint assumes that
the scene is comprised of planar surfaces, and recovers them
directly.

ContentsImage, Scene, and Motion;
Computing Image Motion; Structure from Motion of Points; The Structure and Motion of
Edges; From Edges to Surfaces; Structure and Motion of Planes; Visual Motion
Segmentation; Matching to Edge Models; Matching to Planar Surfaces.