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arXiv 1805.06641cs.CV
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使用时空梯度联合直接估计3D几何形状和3D运动

Joint direct estimation of 3D geometry and 3D motion using spatio temporal gradients

University of Granada(格拉纳达大学);University of Maryland(马里兰大学)

Francisco Barranco, Cornelia Fermüller, Yiannis Aloimonos, Eduardo Ros

摘要:

传统的基于图像运动的运动恢复结构方法首先计算光流,然后基于极线约束求解三维运动参数,最后恢复场景的三维几何形状。然而,由于正则化引起的光流中的误差会导致3D运动和结构中的大误差。本文研究了在从运动恢复运动恢复结构流水线的早期阶段避免光流估计是否可以提高性能和一致性,并提出了一种新的仅基于图像梯度(正常流)的直接方法。其主要思想在于重新制定的积极的深度约束,它允许使用众所周知的最小化技术来解决三维运动。然后,细化3D运动估计,并基于深度添加正则化来估计结构。在标准合成数据集和使用三种不同光流算法的真实驾驶基准数据集KITTI上的实验比较表明,该方法在除一种情况外的所有情况下都具有更好的准确性。此外,它优于现有的基于正常流的3D运动估计技术。最后,恢复的3D几何形状也是非常准确的。

英文摘要:

Conventional image motion based structure from motion methods first compute optical flow, then solve for the 3D motion parameters based on the epipolar constraint, and finally recover the 3D geometry of the scene. However, errors in optical flow due to regularization can lead to large errors in 3D motion and structure. This paper investigates whether performance and consistency can be improved by avoiding optical flow estimation in the early stages of the structure from motion pipeline, and it proposes a new direct method based on image gradients (normal flow) only. The main idea lies in a reformulation of the positive-depth constraint, which allows the use of well-known minimization techniques to solve for 3D motion. The 3D motion estimate is then refined and structure estimated adding a regularization based on depth. Experimental comparisons on standard synthetic datasets and the real-world driving benchmark dataset KITTI using three different optic flow algorithms show that the method achieves better accuracy in all but one case. Furthermore, it outperforms existing normal flow based 3D motion estimation techniques. Finally, the recovered 3D geometry is shown to be also very accurate.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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