Analysis Of A Sequence Of Stereo Scenes Containing Multiple Moving Objects Using Rigidity Constraints

Iri this paper, we describe a method for comput.ing the rriovc~rrient. of objects as well as that of a mobile robot from ii scqiicrice of stereo frames. Stereo frames are obtained at ~iifl’(~reiit, instants by a stereo rig, when the mobile robot rIilvigat(>s in an unknown environment possibly containing ~)iiit: rrioving rigid objects. An approach based on rigidity ( oiihlraiiit,s is presented for registering two stereo frames. Wcs dernoristrate how the uncertainty of measurements can IN^ integrated with the formalism of the rigidity constraints. A iiew technique is described to match very noisy segments. ‘1‘11~ iiifluence of egomotion on observed movement:; of ob,j(~ 1,s is discussed in detail. Egomotion is fir:jt determined itiid then eliminated before determination of the motion of o1)jt:cl.s. The proposed algorithm is completely automatic. I~:xperirnerital results are provided. Some remarks conclude ths paper.

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