This dissertation presents a technique for recovering translational motion parameters using two simplified planar compound-like eye schemes, namely a parallel trinocular system and a single-row Superposition-type Planar Compound-like Eye (SPCE).
In the parallel trinocular scheme, a least squares estimation algorithm is developed for recovering the translational motion parameters. The proposed approach resolves the matrix singularity problem encountered when attempting to recover motion parameters using a conventional binocular scheme. To further reduce the computational complexity of the motion estimation process, a compact closed-form scheme is also proposed to estimate the translational motion parameters. The closed-form algorithm not only resolves the matrix singularity problem, but also avoids the requirement for matrix manipulation. As a result, it has a low computational complexity and is therefore an ideal solution for performing motion estimation in complex, real-world visual imaging applications following an initial image filtering process. The performance of the closed-form algorithm is evaluated by performing a series of numerical simulations in which translational displacements of various magnitudes in three-dimensional space are recovered in both noise-free and perturbed environments. In general, the results demonstrate that the translational motion parameters can be reconstructed with a high degree of accuracy provided that the motion in the depth direction is limited to small displacements only.
Having developed a motion estimation scheme for a parallel trinocular system, additional charge coupled device (CCD) cameras are added in the horizontal direction to create a single-row SPCE. Translational motion models for the SPCE are then constructed by stacking the optical flow equations in the horizontal direction. The ego-translational parameters are then extracted using a simple least squares estimation algorithm. The simulation results reveal that the introduction of additional cameras to the machine vision system ensures an excellent motion estimation performance without the need for filters of any kind even when the viewing field is characterized by significant noise or the CCD deployment within the SPCE configuration has a non-uniform distribution.
Overall, the parallel binocular scheme and single-row SPCE configuration presented in this dissertation demonstrate a high degree of robustness toward noise and enable the motion estimation process to be performed in a rapid and computationally efficient manner using a simple least squares approximation approach. Whilst science can not realistically hope to improve upon the visioning capabilities found in the insect world, the techniques presented in this dissertation nonetheless provide a sound foundation for the development of artificial planar-array compound-like eyes which mimic the mechanisms at work in biological compound eyes and attain an enhanced visioning performance as a result.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-1214107-000849 |
| Date | 14 December 2007 |
| Creators | Lin, Gwo-Long |
| Contributors | Tsing-Iuan Tsay, Pau-Choo Chung, Innchyn Her, Chungnan Lee, Chi-Cheng Cheng, Chen-Wen Yen |
| Publisher | NSYSU |
| Source Sets | NSYSU Electronic Thesis and Dissertation Archive |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-1214107-000849 |
| Rights | withheld, Copyright information available at source archive |
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