Three-dimensional motion determination from real scene images using straight line correspondences

摘要

An experiment in determining (3D) vehicle motion in an outdoor scene using line correspondences over an image sequence is presented. The motivation of this experiment is to test how well algorithms of motion estimation work on real life outdoor scenes. Using images taken by a well calibrated camera, the experiment includes straight line extraction from intensity images, straight line matching and motion estimation using line correspondences. Many corrections 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 rotation. The experiment also reveals that there is a big gap between simulation tests and real scene tests for algorithms of motion estimation.