CONTENTS
List of Figures
List of Tables
Preface
1 Image, Scene and Motion = 1
1.1 Exegesis = 3
1.2 Scene and image motion = 6
1.3 Paradigms for computing visual motion = 9
1.4 Visual versus projected motion = 14
1.5 Remarks = 20
2 Computing Image Motion = 23
2.1 Edgels as weak tokens = 23
2.2 An edgel matching algorithm = 25
2.3 The algorithm in detail = 26
2.4 Computer experiments = 32
3 Structure from Motion of Points = 47
3.1 The aperture problem = 47
3.2 3D constraints on the aperture problem = 48
3.3 Point structure from known motion = 51
3.4 Pointwise depths = 51
3.5 Straight edges with Known motion = 55
3.6 Remarks = 58
4 The Structure and Motion of Edges = 61
4.1 Motion segmentation using edges = 61
4.2 The Structure from motion algorithm = 68
4.3 Computer experiments = 70
4.4 How many edges? = 83
5 From Edges to Surfaces = 85
5.1 Imposing polyhedral constraints = 85
5.2 The polyhedral motion algorithm = 92
5.3 Computer experiments = 94
5.4 Remarks = 101
6 Structure and Motion of Planes = 103
6.1 Planar scenes = 103
6.2 Recovering planar structure and motion = 104
6.3 Planar facets with known motion = 112
6.4 3D reconstructions : computer experiments = 112
6.5 Failures of the planar facet algorithms = 117
6.6 Reconstructing full visual motion = 121
7 Visual Motion segmentation = 129
7.1 Global segmentation = 130
7.2 Local segmentation = 144
7.3 Remarks = 148
8 Matching to Edge Models = 151
8.1 Model and data specification = 152
8.2 Matching in overview = 154
8.3 The constraints in detail = 157
8.4 Sign management within search = 165
8.5 Location stage and testing global validity = 167
8.6.Computer experiments = 169
8.7 Remarks = 176
8.8 Appendix = 177
9 Matching to Planar Surfaces = 181
9.1 The matching constraints = 181
9.2 Location stage = 185
9.3 An experimental example = 185
10 Commentary = 189
10.1 Sensing, perception and action = 189
10.2 Representation = 192
10.3 Computing motion and depth = 195
10.4 Object recognition and location = 198
10.5 What next? = 201
10.6 Perception begets action = 201
10.7 Dynamic vision = 202
10.8 Reactive vision = 204
10.9 Vision and control = 207
10.10 Recognition = 209
10.11 Shape and motion = 213
References = 215
Copyright acknowledgements = 231
Index = 233
