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Method and system for constraint-consistent motion estimation

  • US 7,164,800 B2
  • Filed: 02/19/2003
  • Issued: 01/16/2007
  • Est. Priority Date: 02/19/2003
  • Status: Expired due to Fees
First Claim
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1. A method for determining motion vectors from one point in one image frame of a scene to corresponding points in at least two other image frames of the scene, utilizing one or more cameras, said method comprising the steps of:

  • providing first, second, and third images of a scene under perspective projection with unconstrained motion of the one or more cameras, wherein points (x′

    ,y′

    ) and (x″

    ,y″

    ) in the second and third frames are projections of the same spatial points (x,y) in the first frame;

    specifying a system of trifocal tensors and optical flow equations that describe point correspondence across the three images; and

    applying both a geometric constraint of trilinearity and an appearance constraint of constant brightness, thereby utilizing a trilinear constraint and a constant brightness constraint to obtain the pointwise displacement between the three frames simultaneously;

    wherein said providing further comprises capturing said first, second, and third images with said one or more cameras.

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