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application of velocity filtering to optical-flow passive rangingThe performance of the velocity filtering method as applied to optical-flow passive ranging under real-world conditions is evaluated. The theory of the 3-D Fourier transform as applied to constant-speed moving points is reviewed, and the space-domain shift-and-add algorithm is derived from the general 3-D matched filtering formulation. The constant-speed algorithm is then modified to fit the actual speed encountered in the optical flow application, and the passband of that filter is found in terms of depth (sensor/object distance) so as to cover any given range of depths. Two algorithmic solutions for the problems associated with pixel interpolation and object expansion are developed, and experimental results are presented.
Document ID
19930045594
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Barniv, Yair
(NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
August 16, 2013
Publication Date
October 1, 1992
Publication Information
Publication: IEEE Transactions on Aerospace and Electronic Systems
Volume: 28
Issue: 4
ISSN: 0018-9251
Subject Category
OPTICS
Distribution Limits
Public
Copyright
Other