A Kalman filter approach to direct depth estimation incorporating surface structure

Authors
Hung, YS Ho, HT
Citation
Ys. Hung et Ht. Ho, A Kalman filter approach to direct depth estimation incorporating surface structure, IEEE PATT A, 21(6), 1999, pp. 570-575
Citations number
18
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE
ISSN journal
01628828 → ACNP
Volume
21
Issue
6
Year of publication
1999
Pages
570 - 575
Database
ISI
SICI code
0162-8828(199906)21:6<570:AKFATD>2.0.ZU;2-X
Abstract
The problem of depth-from-motion using a monocular image sequence is consid ered. A pixel-based model is developed for direct depth estimation within a Kalman filtering framework. A method is proposed for incorporating local s urface structure into the Kalman filter. Experimental results are provided to illustrate the effect of structural information on depth estimation.