Estimation of motion parameters using binocular camera configurations

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Abstract
This paper is concerned with the estimation of rotational and translational motion parameters of planar and nonplanar object surfaces viewed with a binocular camera configuration. Possible application of this method includes autonomous guidance of a moving platform (AGVs) via imaging, and segmentation of moving objects by the use of information concerning motion and structure. Assuming that the brightness of a moving patch is invariant to small motion, a pair of equation, involving the object depth and the spatio-temporal derivatives of left and right images, is developed. The depth map is estimated by matching and triangulating contours in the stereo images and interpolating over internal regions. Considering the entire image points, a system linear equations in the unknown motion parameters is obtained and solved using the singular value decomposition technique. The algorithm was tested for simulated images as well as real images. Accurate results were obtained in case of simulated images. In the case of real image, the errors obtained with different levels of image spatial sampling, were within reasonable limits.

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