An Integration Algorithm for Stereo, Motion and Color in Real-Time Applications

Hiroshi ARAKAWA  Minoru ETOH  

IEICE TRANSACTIONS on Information and Systems   Vol.E78-D   No.12   pp.1615-1620
Publication Date: 1995/12/25
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: Special Section PAPER (Special Issue on Machine Vision Applications)
stereo,  motion,  competitive learning,  real-time image processing,  

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This paper describes a statistical integration algorithm for color, motion and stereo disparity, and introduces a real-time stereo system that can tell us where and what objects are moving. Regarding the integration algorithm, motion estimation and depth estimation are simultaneously performed by a clustering process based on motion, stereo disparity, color, and pixel position. As a result of the clustering, an image is decomposed into region fragments. Eath fragment is characterized by distribution parameters of spatiotemporal intensity gradients, stereo difference, color and pixel positions. Motion vectors and stereo disparities for each fragment are obtained from those distribution parameters. The real-time stereo system can view the objects with the distribution parameters over frames. The implementation and experiments show that we can utilize the proposed algorithm in real-time applications such as surveillance and human-computer interaction.