McCarthy , Christopher; Barnes, Nick; Srinivasan, Mandyam V
We present a strategy for generating real-time relative depth maps of an environment from optical flow, under general motion. We achieve this using an insect-inspired hemispherical fish-eye sensor with 190 degree FOV, and a derotated optical flow field. The de-rotation algorithm applied is based on the theoretical work of Nelson and Aloimonos . From this we obtain the translational component of motion, and construct full relative depth maps on the sphere. We examine the robustness of this...[Show more]
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