MACHINE PERCEPTION AND ROBOTICS GROUP

Dept. of Robotics Science and Technology,
Chubu University

In this paper, we propose a method for estimating object motion by three-dimensional scene flow using multiple cameras. The scene flow is regularized by applying subspace constraints and then object motion is estimated using RANSAC estimation. Regularizing the scene flow using subspace constraints results in highly accurate scene flow because it eliminates the effect of noise caused by computing of optical flow. Simulation and experimental results demonstrated that this method can be used to accurately estimate scene flow and object motion parameters for translation and rotation.