lect921h

lect921h - Estimation Using Flexible Wireframe Model Main...

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1 Estimation Using Flexible Wireframe Model Main Points • Model photometric effects • Simultaneously compute 3D motion and adapt the wireframe model.
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2 Generalized Optical Flow Constraint dt dN L f v f u f t y x . r = + + dt dN L dt t y x df . ) , , ( r = L t N t y x f ). ( ) , , ( r = Lambertian Model Albedo Surface Normal (-p,-q,1) Lambertian Model S=L, light source ) , , ).( , , ( . ) , ( z y x z y x l l l n n n L n y x f = = ) , , )).( 1 , , ( 1 1 ( . ) , ( 2 2 z y x l l l q p q p L n y x f - - + + = =
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3 Sphere ( 29 ) , , ( 1 ) , , ( 2 2 2 z y x R n n n R y x z p R x x z p y x R z z y x = - = = - = = - - = Orthographic Projection (u,v) is optical flow 3 2 1 2 1 3 1 3 2 2 1 3 1 3 2 V X Y Z V Z X Y V Y Z X V Z x y v V y Z x u + - = + - = + - = + × = + - = = + - = = V X X
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4 dt dN L f V Z x f V y Z f t y x . ) ( ) ( 2 1 3 1 3 2 r = + + - + + - + + - - - + + - - = + +
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lect921h - Estimation Using Flexible Wireframe Model Main...

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