The performance of the velocity filtering method as applied to optical-flow passive ranging under real-world conditions is evaluated. The theory of the 3-D Fourier transform as applied to constant-speed moving points is reviewed, and the space-domain shift-and-add algorithm is derived from the general 3-D matched filtering formulation. The constant-speed algorithm is then modified to fit the actual speed encountered in the optical flow application, and the passband of that filter is found in terms of depth (sensor/object distance) so as to cover any given range of depths. Two algorithmic solutions for the problems associated with pixel interpolation and object expansion are developed, and experimental results are presented.
Application of velocity filtering to optical-flow passive ranging
Geschwindigkeitsfilterung zur passiven optischen Entfernungsmessung
IEEE Transactions on Aerospace and Electronic Systems ; 28 , 4 ; 957-969
1992
13 Seiten, 12 Quellen
Aufsatz (Zeitschrift)
Englisch
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