System and method for determining motion and structure from optical flow
AssigneeNew York University Langone Medical
InventorDavi Geiger
Life of this patent
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Abstract
A method and system for extracting motion and structure from a sequence of images stored on a computer system, the method comprises obtaining images including a set of three-dimensional (3D) points over a plurality of frames, determining an instantaneous motion of the set of 3D points by an angular velocity and a translation with respect to an axis of rotation, computing an optical flow using the instantaneous motion of the set of 3D points based on a projection of velocity of the set of 3D points, computing a depth of the set of 3D points from the optical flow, and determining an epipolar line in the images using the optical flow.
Claims20
A method for extracting motion and structure from a sequence of images stored on a computer system, the method comprising:
- obtaining images including a set of three-dimensional (3D) points over a plurality of frames;
- determining an instantaneous motion of the set of 3D points by an angular velocity and a translation with respect to an axis of rotation;
- computing an optical flow using the instantaneous motion of the set of 3D points based on a projection of velocity of the set of 3D points;
- computing a depth of the set of 3D points from the optical flow;
- and
- determining an epipolar line in the images using the optical flow.
A system for extracting motion and structure from a sequence of images stored on a memory device, the system comprising:
- a processor;
- and
- a memory having executable instructions stored thereon that when executed by the processor cause the processor to:
- obtain images including a set of three-dimensional (3D) points over a plurality of frames;
- determine an instantaneous motion of the set of 3D points by an angular velocity and a translation with respect to an axis of rotation;
- compute an optical flow using the instantaneous motion of the set of 3D points based on a projection of velocity of the set of 3D points;
- compute a depth of the set of 3D points from the optical flow;
- and
- determine an epipolar line in the images using the optical flow.
Non-transitory computer readable medium comprising program code that when executed by a programmable processor causes execution of a method for extracting motion and structure from a sequence of images stored on a computer system, the computer readable medium comprising:
- computer program code for obtaining images including a set of three-dimensional (3D) points over a plurality of frames;
- computer program code for determining an instantaneous motion of the set of 3D points by an angular velocity and a translation with respect to an axis of rotation;
- computer program code for computing an optical flow using the instantaneous motion of the set of 3D points based on a projection of velocity of the set of 3D points;
- computer program code for computing a depth of the set of 3D points from the optical flow;
- and
- computer program code for determining an epipolar line in the images using the optical flow.
Dependencies are inferred from the claim text.