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Multi-Camera Scene Flow by Tracking 3-D Points and Surfels

10 years 11 months ago
Multi-Camera Scene Flow by Tracking 3-D Points and Surfels
Scene flow represents the 3-D motion of points in the scene, just as optical flow is related to their 2-D motion in the images. As opposed to classical methods which compute scene flow from optical flow, we propose to compute it by tracking 3-D points and surface elements (surfels) in a multi-camera setup (at least two cameras are needed). Two methods are proposed: in the first one, the translation of each 3-D point is found by matching the neighborhoods of its 2-D projections in each camera between two time steps; in the second one, the full pose of a surfel is recovered by matching the image of its projection with a texture template attached to the surfel, and visibility changes caused by occlusion or rotation of surfels are handled. Both methods detect lost or untrackable points and surfels. They were designed for real-time execution and can be used for fast extraction of scene flow from multi-camera sequences.
Frederic Devernay, Diana Mateus, Matthieu Guilbert
Added 12 Oct 2009
Updated 28 Oct 2009
Type Conference
Year 2006
Where CVPR
Authors Frederic Devernay, Diana Mateus, Matthieu Guilbert
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