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Low Power Depth and Velocity From a Passive Moving Sensor
AbstractWe present an opportunity for the visual sensing of depth and 3D velocity using a passive sensor that has extremely low power requirements. This opportunity comes from a new mathematical constraint, which we derive, that relates depth and velocity to spatial and temporal derivatives of image values captured by a coded-aperture camera that observes a moving scene. The constraint exploits the fact that there are two causes of brightness change in this situation: features move across the image due to motion, and contrast changes because of time-varying optical blur. The sensor that could be realized from this constraint is called a focal flow sensor. We analytically characterize the working volume of such a sensor in relation to its size, and we provide simulation results that affirm its viability.
Related Material
[pdf][bibtex]@InProceedings{Alexander_2015_ICCV_Workshops,
author = {Alexander, Emma and Koppal, Sanjeev J. and Zickler, Todd},
title = {Low Power Depth and Velocity From a Passive Moving Sensor},
booktitle = {Proceedings of the IEEE International Conference on Computer Vision (ICCV) Workshops},
month = {December},
year = {2015}
}
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