Visual Anticipation of Collisions with Moving Objects
(id 19101)
Description
Plenoptic cameras allow to estimate depth from a
single image by analysis of their epipolar geometry.
Combining depth and motion estimation allows anticipating where a moving object
may be in a collision course with the camera.
The objectives of
this work are:
1) Plenoptic camera modelling and calibration.
2) Self-Motion
estimation using the camera geometry.
3) Estimating the
motion of moving objects.
Detailed
description:
Typical strategies
to obtain a 3D reconstruction are based on shape from motion and shape from
shading. 3D reconstruction is usually challenging due to the need of
integrating large amounts of data within a short frame of time.
Plenoptic cameras give more information than
conventional cameras. Namely, these cameras give information about the
direction and contribution of each ray to the total amount of light captured on
an image. These cameras allow to estimate depth from a single image by analysis
of their epipolar geometry, which may allow to
overcome some of the current limitations of conventional cameras.
The workplan
consists on the study of the plenoptic
camera model and calibration, and implementation of a standard depth estimation
algorithm for conventional and plenoptic cameras.
Place for conducting
the work-proposal:
ISR / IST
More information in:
http://users.isr.tecnico.ulisboa.pt/~jag