Straight line extraction, matching, and 3D object motion estimations from intensity images

ABSTRACTAn experiment in determining 3D vehicle motion in an outdoor scene using line correspondences over an imagesequence is presented in this paper. The motivation of this experiment is to test how well algorithms of motion estima-Lion work on real life outdoor scenes. Using images taken by a well calibrated camera, the experiment includes straightline extraction from intensity images, straight line matching and motion estimation using line correspondences. Manycorrections and adjustments are performed on the raw image data before they are used for motion estimation, which include film distortion correction, lens distortion correction and camera alignment. The results of this experiment indicate that for the type of vehicle motion under consideration, our algorithm can obtain reasonably accurate estimates for rota-tion. The experiment also reveals that there is a big gap between simulation tests and real scene tests for algorithms of motion estimation. 1. INTRODUCTIONThe estimation of 3D motion of a rigid object from its intensity images is a major problem in computer vision that