Rigid body motion from range image sequences
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2015, Pattern Recognition LettersCitation Excerpt :In [17] Horn showed that it is only possible to have a direct solution for 3D motion estimation when some constraints are imposed, such as assuming the depth field is known, or assuming the motion is pure rotation or pure translation. Note that our new optical flow constraint equation (Eq. (6)) is different from the elevation rate constraint equation [18], although both the equations are based on the range images and are equivalent mathematically. When the elevation rate constraint equation is employed, one has to convert range images Z(x, y, t) captured from depth sensors to 3D Cartesian Elevation Map Z(X, Y, t).
Log-polar height maps for multiple range image registration
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