The Interpretation of Structure from Motion
The interpretation of structure from motion is examined from a computational point of view. The question addressed is how the 3-D structure and motion of objects can be inferred from the 2-D transformations of their projected images when no 3-D information is conveyed by the individual projections. The following scheme is proposed: (i) divide the image into groups of 4 elements each. (ii) Test each group for a rigid interpretation. (iii) Combine the results obtained in (ii). It is shown that this scheme will correctly decompose scenes containing arbitrary rigid objects in motion, recovering their 3-D structure and motion. The analysis is based primarily on the 'structure from motion' theorem which which states that the structure of 4 non-coplanar points is recoverable from 3 orthographic projections. The interpretation scheme is extended to cover perspective projections, and its psychological relevance is discussed. (Author)
Print Book, English, OCT 1976
Defense Technical Information Center, Ft. Belvoir, OCT 1976