Direct Passive Navigation: Analytical Solution for Planes
In this paper, we derive a closed form solution for recovering the motion of an observer relative to a planar surface directly from image brightness derivatives. We do not compute the optical flow as an intermediate step, only the spatial and temporal intensity gradients at a minimum of 8 poin...
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6431 |
| _version_ | 1826200907401920512 |
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| author | Negahdaripour, Shahriar |
| author_facet | Negahdaripour, Shahriar |
| author_sort | Negahdaripour, Shahriar |
| collection | MIT |
| description | In this paper, we derive a closed form solution for recovering the motion of an observer relative to a planar surface directly from image brightness derivatives. We do not compute the optical flow as an intermediate step, only the spatial and temporal intensity gradients at a minimum of 8 points. We solve a linear matrix equation for the elements of a 3x3 matrix. The eigenvalue decomposition of its symmetric part is then used to compute the motion parameters and the plane orientation. |
| first_indexed | 2024-09-23T11:43:35Z |
| id | mit-1721.1/6431 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:43:35Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/64312019-04-11T04:54:38Z Direct Passive Navigation: Analytical Solution for Planes Negahdaripour, Shahriar In this paper, we derive a closed form solution for recovering the motion of an observer relative to a planar surface directly from image brightness derivatives. We do not compute the optical flow as an intermediate step, only the spatial and temporal intensity gradients at a minimum of 8 points. We solve a linear matrix equation for the elements of a 3x3 matrix. The eigenvalue decomposition of its symmetric part is then used to compute the motion parameters and the plane orientation. 2004-10-04T14:56:10Z 2004-10-04T14:56:10Z 1985-08-01 AIM-863 http://hdl.handle.net/1721.1/6431 en_US AIM-863 1728208 bytes 685900 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Negahdaripour, Shahriar Direct Passive Navigation: Analytical Solution for Planes |
| title | Direct Passive Navigation: Analytical Solution for Planes |
| title_full | Direct Passive Navigation: Analytical Solution for Planes |
| title_fullStr | Direct Passive Navigation: Analytical Solution for Planes |
| title_full_unstemmed | Direct Passive Navigation: Analytical Solution for Planes |
| title_short | Direct Passive Navigation: Analytical Solution for Planes |
| title_sort | direct passive navigation analytical solution for planes |
| url | http://hdl.handle.net/1721.1/6431 |
| work_keys_str_mv | AT negahdaripourshahriar directpassivenavigationanalyticalsolutionforplanes |