Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Towards a Cloud Robotics Platform for Distributed Visual SLAM Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Monocular Epipolar Constraint for Optical Flow Estimation

Authors : Mahmoud A. Mohamed, M. Hossein Mirabdollah, Bärbel Mertsching

Published in: Computer Vision Systems

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

In this paper, the usage of the monocular epipolar geometry for the calculation of optical flow is investigated. We derive the necessary formulation to use the epipolar constraint for the calculation of differential optical flow using the total variational model in a multi-resolution pyramid scheme. Therefore, we minimize an objective function which contains the epipolar constraint with a residual function based on different types of descriptors (brightness, HOG, CENSUS and MLDP). For the calculation of epipolar lines, the relevant fundamental matrices are calculated based on the 7- and 8- point methods. Moreover, SIFT and Lukas-Kanade methods are used to obtain matched features between two consecutive frames, by which fundamental matrices can be calculated. The effect of using different combination of the feature matching methods, fundamental matrix calculation and descriptors are evaluated based on the KITTI 2012 dataset.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter Towards Space Carving with a Hand-Held Camera
next chapter Visual Servo Tracking Control of Quadrotor with a Cable Suspended Load
Literature
1.
Bernd, K., Henning, L.: Trinocular optical flow estimation for intelligent vehicle applications. In: 15th International IEEE Conference on Intelligent Transportation Systems (ITSC). IEEE, September 2012
2.
Brox, T., Bruhn, A., Papenberg, N., Weickert, J.: High accuracy optical flow estimation based on a theory for warping. In: Pajdla, T., Matas, J. (eds.) ECCV 2004. LNCS, vol. 3024, pp. 25–36. Springer, Heidelberg (2004). doi:10.​1007/​978-3-540-24673-2_​3 CrossRef
3.
Geiger, A., Lenz, P., Stiller, C., Urtasun, R.: Vision meets robotics: the KITTI dataset. Int. J. Robot. Res. (IJRR) 32, 1231–1237 (2013)CrossRef
4.
Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision, 2nd edn. Cambridge University Press, New York (2003)MATH
5.
Kennedy, R., Taylor, C.J.: Optical flow with geometric occlusion estimation and fusion of multiple frames. In: Tai, X.-C., Bae, E., Chan, T.F., Lysaker, M. (eds.) EMMCVPR 2015. LNCS, vol. 8932, pp. 364–377. Springer, Cham (2015). doi:10.​1007/​978-3-319-14612-6_​27
6.
Mohamed, M., Mertsching, B.: TV-L1 optical flow estimation with image details recovering based on modified census transform. Adv. Vis. Comput. 7431, 482–491 (2012)
7.
Mohamed, M.A., Mirabdollah, M.H., Mertsching, B.: Differential optical flow estimation under monocular epipolar line constraint. In: Nalpantidis, L., Krüger, V., Eklundh, J.-O., Gasteratos, A. (eds.) ICVS 2015. LNCS, vol. 9163, pp. 354–363. Springer, Cham (2015). doi:10.​1007/​978-3-319-20904-3_​32 CrossRef
8.
Mohamed, M.A., Boddeker, C., Mertsching, B.: Real-time moving objects tracking for mobile-robots using motion information. In: 2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 1–6. IEEE (2014)
9.
Mohamed, M.A., Rashwan, H.A., Mertsching, B., Garcia, M.A., Puig, D.: On improving the robustness of variational optical flow against illumination changes. In: Proceedings of the 4th ACM/IEEE International Workshop on Analysis and Retrieval of Tracked Events and Motion in Imagery Stream, pp. 1–8. ACM (2013)
10.
Mohamed, M.A., Rashwan, H.A., Mertsching, B., Garcia, M.A., Puig, D.: Illumination-robust optical flow using a local directional pattern. IEEE Trans. Circuits Syst. Video Technol. 24, 1–9 (2014)CrossRef
11.
Müller, T., Rabe, C., Rannacher, J., Franke, U., Mester, R.: Illumination-robust dense optical flow using census signatures. In: Mester, R., Felsberg, M. (eds.) DAGM 2011. LNCS, vol. 6835, pp. 236–245. Springer, Heidelberg (2011). doi:10.​1007/​978-3-642-23123-0_​24 CrossRef
12.
Ranftl, R., Vineet, V., Chen, Q., Koltun, V.: Dense monocular depth estimation in complex dynamic scenes. In: The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 4058–4066, June 2016
13.
Rashwan, H.A., Mohamed, M.A., García, M.A., Mertsching, B., Puig, D.: Illumination robust optical flow model based on histogram of oriented gradients. In: Weickert, J., Hein, M., Schiele, B. (eds.) GCPR 2013. LNCS, vol. 8142, pp. 354–363. Springer, Heidelberg (2013). doi:10.​1007/​978-3-642-40602-7_​38 CrossRef
14.
Revaud, J., Weinzaepfel, P., Harchaoui, Z., Schmid, C.: Epicflow: edge-preserving interpolation of correspondences for optical flow. In: The IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2015, Boston, MA, USA, 7–12, June, pp. 1164–1172. IEEE (2015)
15.
Taniai, T., Sinha, S., Sato, Y.: Fast multi-frame stereo scene flow with motion segmentation. In: The IEEE Computer Vision and Pattern Recognition (CVPR). IEEE, March 2017
16.
Valgaerts, L., Bruhn, A., Weickert, J.: A variational model for the joint recovery of the fundamental matrix and the optical flow. In: Rigoll, G. (ed.) DAGM 2008. LNCS, vol. 5096, pp. 314–324. Springer, Heidelberg (2008). doi:10.​1007/​978-3-540-69321-5_​32 CrossRef
17.
Yamaguchi, K., McAllester, D.A., Urtasun, R.: Robust monocular epipolar flow estimation. In: The IEEE Computer Vision and Pattern Recognition (CVPR), pp. 1862–1869. IEEE (2013)
18.
Zach, C., Pock, T., Bischof, H.: A duality based approach for realtime TV-L 1 optical flow. In: Hamprecht, F.A., Schnörr, C., Jähne, B. (eds.) DAGM 2007. LNCS, vol. 4713, pp. 214–223. Springer, Heidelberg (2007). doi:10.​1007/​978-3-540-74936-3_​22 CrossRef
Metadata
Title
Monocular Epipolar Constraint for Optical Flow Estimation
Authors
Mahmoud A. Mohamed
M. Hossein Mirabdollah
Bärbel Mertsching
Copyright Year
2017
Book
Computer Vision Systems

Print ISBN: 978-3-319-68344-7

Electronic ISBN: 978-3-319-68345-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-68345-4_6

Premium Partner

    Image Credits