Low Power Depth and Velocity from a Passive Moving Sensor

Emma Alexander, Sanjeev J. Koppal, Todd Zickler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We 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.

Original languageEnglish (US)
Title of host publicationProceedings - 2015 IEEE International Conference on Computer Vision Workshops, ICCVW 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages667-670
Number of pages4
ISBN (Electronic)9781467383905
DOIs
StatePublished - Feb 11 2016
Externally publishedYes
Event15th IEEE International Conference on Computer Vision Workshops, ICCVW 2015 - Santiago, Chile
Duration: Dec 11 2015Dec 18 2015

Publication series

NameProceedings of the IEEE International Conference on Computer Vision
Volume2016-February
ISSN (Print)1550-5499

Conference

Conference15th IEEE International Conference on Computer Vision Workshops, ICCVW 2015
Country/TerritoryChile
CitySantiago
Period12/11/1512/18/15

Keywords

  • Apertures
  • Brightness
  • Cameras
  • Optical imaging
  • Optical sensors
  • Optical variables measurement
  • Visualization

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition

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