The problem of optical flow estimation is largely discussed in computer vision domain for perspective images. It was also proven that, in terms of optical flow analysis from these images, we have di culty distinguishing between some motion fields obtained with smooth camera motion. The omnidirectional cameras developed recently provided images with large filed of view. These images will contain global information about motion and allows to remove the ambiguity present in the case of planar projection in terms of optical flow analysis. Nevertheless, these images contain significant radial distortions that is necessary to take into account when treating these images to estimate the motion. In this paper, we shall describe new way to compute e cient optical flow for several camera motions given synthetic and real omnidirectional images. Our formulation of optical flow estimation problem will be given in the spherical domain. The omnidirectional images will be mapped on the sphere and used in multichannel image decomposition I
Omnidirectional vision is one of emerging areas of research. Omnidirectional images offer a large field of view compared to conventional perspectives images. However, these images contain important distortions, and classical optical flow estimation are thus not appropriate. In this paper, we propose to estimate optical flow on omnidirectional images using a phase based method which proved its robustness and its accuracy on the perspective images. We will adapt different treatments that this method involve in order to take into account the nature of omnidirectional images.
Egomotion estimation is based principally on the estimation of the optical flow in the image. Recent research has shown that the use of omnidirectional systems with large fields of view allow overcoming the limitation presented in planar-projection imagery in order to address the problem of motion analysis. For omnidirectional images, the 2D motion is often estimated using methods developed for perspective images. This paper adapts motion field calculated using adapted method which takes into account the distortions existing in the omnidirectional image. This 2D motion field is then used as input to the egomotion estimation process using spherical representation of the motion equation. Experimental results are shown and comparison of error measures are given to confirm that succeeded estimation of camera motion will be obtained when using an adapted method to estimate optical flow.
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