<title>Real-time implementation of structure estimation using image streams</title>

摘要

The computation of 3-D structure from motion using a monocular sequence of images in the paradigm of active vision is investigated in this paper. Robotic tasks such as navigation, manipulation, and object recognition all require 3-D description of scene. The 3-D description for these tasks varies in resolution, accuracy, robustness, range, and time. In developing such a system, it must have the capability to actively control the imaging parameters so that a 3-D description sufficient enough for that task is generated. The objective of this paper is to investigate a strategy suitable for fast and active 3-D structure estimation. First, the process of 3-D structure estimation in the paradigm of active vision is discussed. Second, implication of image streams in 3-D structure computation is analyzed. The three approaches to structure from motion, feature based, optical flow based, and spatial and temporal gradient based, are reviewed for their efficacy in fast and active estimation of 3-D structure. Finally, a pipeline based implementation of a spatial and temporal gradient based approach is presented along with detailed experimental analysis.