Real-time determination of the axial motion component from a stereo image sequence

The determination of 3D motion is an area of very active research. This is explained by the fact that it is an important task in mobile robot control and car driving assistance. Most of approaches consist in two main steps: at first, objects of the scene are isolated; then, their motion components are estimated. The specificity of the present approach lies in two points: first, objects are not isolated before motion analysis, and then, the authors only consider the axial motion transformation. In a first section, they present the special stereo image system. Then they study the determination of the axial motion component of points. In a third section, they explain the method to compute the axial motion map from a disparity map sequence. Then, they present some problems concerning spatio-temporal object tracking and noise. In the last section they present some experimental results and conclusions.