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Chapter 13. Absolute motion and stereo disparity of corners and similar features. 13.1. INTRODUCTION. In Chapter 5 it was shown how it is possible to measure components of optical flow orthogonal to fragments of edges directly from illuminance gradient data in pairs of frames taken from temporal image sequences. In Chapter 9 it was demonstrated how, starting with an array of such fragmentary flow data, simple window analysis can then provide a variety of true flow data, both for local rigid bodies and for the whole scene. Yet again, in Chapter 10 it has been explained how a directly similar approach may be used on stereo pairs of images, in order to extract a wide variety of stereo disparity data. However, whilst these methods of analysis are both simple and powerful, one aspect of optical flow or stereo disparity which they cannot determine is the true local disparity of specific
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