Spatiotemporal representations for visual navigation
They can be extracted using minimal visual information, in particular the sign of flow measurements or the the first order spatiotemporal derivatives of the image intensity function. In that sense they are direct representations needing no intermediate level of computation such as correspondence.
They are global in the sense that they represent how three-dimensional information is globally encoded in them. Thus, they are robust representations since local errors do not affect them.
Usually, from sequences of images, three-dimensional quantities such as motion and shape are computed and used as input to control processes. The representations discussed here are given directly as input to the control procedures, thus resulting in a real time solution.
KeywordsMobile Platform Servo System Forward Translation Visual Navigation Inverse Depth
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