Dynamic Rigid Motion Estimation From Weak Perspective

“Weak perspective” represents a simplified projection model that approximates the imaging process when the scene is viewed under a small viewing angle and its depth relief is small relative to its distance from the viewer. We study how to generate dynamic models for estimating rigid 3D motion from weak perspective. A crucial feature in dynamic visual motion estimation is to decouple structure from motion in the estimation model. The reasons are both geometric-to achieve global observability of the model-and practical, for a structure independent motion estimator allows us to deal with occlusions and appearance of new features in a principled way. It is also possible to push the decoupling even further, and isolate the motion parameters that are affected by the so called “bas relief ambiguity” from the ones that are not. We present a novel method for reducing the order of the estimator by decoupling portions of the state space from the time evolution of the measurement constraint. We use this method to construct an estimator of full rigid motion (modulo a scaling factor) on a six dimensional state space, an approximate estimator for a four dimensional subset of the motion space, and a reduced filter with only two states. The latter two are immune to the bas relief ambiguity. We compare strengths and weaknesses of each of the schemes on real and synthetic image sequences

An Improved Observation Model for Super-Resolution under Affine Motion

Super-resolution (SR) techniques make use of subpixel shifts between frames in an image sequence to yield higher-resolution images. We propose an original observation model devoted to the case of non isometric inter-frame motion as required, for instance, in the context of airborne imaging sensors. First, we describe how the main observation models used in the SR literature deal with motion, and we explain why they are not suited for non isometric motion. Then, we propose an extension of the observation model by Elad and Feuer adapted to affine motion. This model is based on a decomposition of affine transforms into successive shear transforms, each one efficiently implemented by row-by-row or column-by-column 1-D affine transforms. We demonstrate on synthetic and real sequences that our observation model incorporated in a SR reconstruction technique leads to better results in the case of variable scale motions and it provides equivalent results in the case of isometric motions

Reducing “Structure from Motion”: a general framework for dynamic vision. 1. Modeling

The literature on recursive estimation of structure and motion from monocular image sequences comprises a large number of apparently unrelated models and estimation techniques. We propose a framework that allows us to derive and compare all models by following the idea of dynamical system reduction. The “natural” dynamic model, derived from the rigidity constraint and the projection model, is first reduced by explicitly decoupling structure (depth) from motion. Then, implicit decoupling techniques are explored, which consist of imposing that some function of the unknown parameters is held constant. By appropriately choosing such a function, not only can we account for models seen so far in the literature, but we can also derive novel ones

Reducing “Structure from Motion”: a general framework for dynamic vision. 2. Implementation and experimental assessment

For pt.1 see ibid., p.933-42 (1998). A number of methods have been proposed in the literature for estimating scene-structure and ego-motion from a sequence of images using dynamical models. Despite the fact that all methods may be derived from a “natural” dynamical model within a unified framework, from an engineering perspective there are a number of trade-offs that lead to different strategies depending upon the applications and the goals one is targeting. We want to characterize and compare the properties of each model such that the engineer may choose the one best suited to the specific application. We analyze the properties of filters derived from each dynamical model under a variety of experimental conditions, assess the accuracy of the estimates, their robustness to measurement noise, sensitivity to initial conditions and visual angle, effects of the bas-relief ambiguity and occlusions, dependence upon the number of image measurements and their sampling rate

Reducing "Structure From Motion": a General Framework for Dynamic Vision - Part 2: Experimental Evaluation

A number of methods have been proposed in the literature for estimating scene-structure and ego-motion from a sequence of images using dynamical models. Although all methods may be derived from a "natural" dynamical model within a unified framework, from an engineering perspective there are a number of trade-offs that lead to different strategies depending upon the specific applications and the goals one is targeting. Which one is the winning strategy? In this paper we analyze the properties of the dynamical models that originate from each strategy under a variety of experimental conditions. For each model we assess the accuracy of the estimates, their robustness to measurement noise, sensitivity to initial conditions and visual angle, effects of the bas-relief ambiguity and occlusions, dependence upon the number of image measurements and their sampling rate

Reducing "Structure From Motion": a General Framework for Dynamic Vision - Part 1: Modeling

The literature on recursive estimation of structure and motion from monocular image sequences comprises a large number of different models and estimation techniques. We propose a framework that allows us to derive and compare all models by following the idea of dynamical system reduction. The "natural" dynamic model, derived by the rigidity constraint and the perspective projection, is first reduced by explicitly decoupling structure (depth) from motion. Then implicit decoupling techniques are explored, which consist of imposing that some function of the unknown parameters is held constant. By appropriately choosing such a function, not only can we account for all models seen so far in the literature, but we can also derive novel ones

Robust and Efficient Recovery of Rigid Motion from Subspace Constraints Solved using Recursive Identification of Nonlinear Implicit Systems

The problem of estimating rigid motion from projections may be characterized using a nonlinear dynamical system, composed of the rigid motion transformation and the perspective map. The time derivative of the output of such a system, which is also called the "motion field", is bilinear in the motion parameters, and may be used to specify a subspace constraint on either the direction of translation or the inverse depth of the observed points. Estimating motion may then be formulated as an optimization task constrained on such a subspace. Heeger and Jepson [5], who first introduced this constraint, solve the optimization task using an extensive search over the possible directions of translation. We reformulate the optimization problem in a systems theoretic framework as the the identification of a dynamic system in exterior differential form with parameters on a differentiable manifold, and use techniques which pertain to nonlinear estimation and identification theory to perform the optimization task in a principled manner. The general technique for addressing such identification problems [14] has been used successfully in addressing other problems in computational vision [13, 12]. The application of the general method [14] results in a recursive and pseudo-optimal solution of the motion problem, which has robustness properties far superior to other existing techniques we have implemented. By releasing the constraint that the visible points lie in front of the observer, we may explain some psychophysical effects on the nonrigid percept of rigidly moving shapes. Experiments on real and synthetic image sequences show very promising results in terms of robustness, accuracy and computational efficiency

Complexity Analysis Of Next-Generation VVC Encoding and Decoding

While the next generation video compression standard, Versatile Video Coding (VVC), provides a superior compression efficiency, its computational complexity dramatically increases. This paper thoroughly analyzes this complexity for both encoder and decoder of VVC Test Model 6, by quantifying the complexity break-down for each coding tool and measuring the complexity and memory requirements for VVC encoding/decoding. These extensive analyses are performed for six video sequences of 720p, 1080p, and 2160p, under Low-Delay (LD), Random-Access (RA), and All-Intra (AI) conditions (a total of 320 encoding/decoding). Results indicate that the VVC encoder and decoder are 5x and 1.5x more complex compared to HEVC in LD, and 31x and 1.8x in AI, respectively. Detailed analysis of coding tools reveals that in LD on average, motion estimation tools with 53%, transformation and quantization with 22%, and entropy coding with 7% dominate the encoding complexity. In decoding, loop filters with 30%, motion compensation with 20%, and entropy decoding with 16%, are the most complex modules. Moreover, the required memory bandwidth for VVC encoding/decoding are measured through memory profiling, which are 30x and 3x of HEVC. The reported results and insights are a guide for future research and implementations of energy-efficient VVC encoder/decoder.Comment: IEEE ICIP 202

Video object segmentation introducing depth and motion information

We present a method to estimate the relative depth between objects in scenes of video sequences. The information for the estimation of the relative depth is obtained from the overlapping produced between objects when there is relative motion as well as from motion coherence between neighbouring regions. A relaxation labelling algorithm is used to solve conflicts and assign every region to a depth level. The depth estimation is used in a segmentation scheme which uses grey level information to produce a first segmentation. Regions of this partition are merged on the basis of their depth level.Peer ReviewedPostprint (published version

Multi-Scale 3D Scene Flow from Binocular Stereo Sequences

Scene flow methods estimate the three-dimensional motion field for points in the world, using multi-camera video data. Such methods combine multi-view reconstruction with motion estimation. This paper describes an alternative formulation for dense scene flow estimation that provides reliable results using only two cameras by fusing stereo and optical flow estimation into a single coherent framework. Internally, the proposed algorithm generates probability distributions for optical flow and disparity. Taking into account the uncertainty in the intermediate stages allows for more reliable estimation of the 3D scene flow than previous methods allow. To handle the aperture problems inherent in the estimation of optical flow and disparity, a multi-scale method along with a novel region-based technique is used within a regularized solution. This combined approach both preserves discontinuities and prevents over-regularization – two problems commonly associated with the basic multi-scale approaches. Experiments with synthetic and real test data demonstrate the strength of the proposed approach.National Science Foundation (CNS-0202067, IIS-0208876); Office of Naval Research (N00014-03-1-0108