Direct Computation of 3D Shape Invariants and the Focus of Expansion

Structure from motion often refers to the computation of 3D structure from a matched sequence of images. However, a depth map of a surface is difficult to compute and may not be a good representation for storage and recognition. Given matched images, I will first show that the sign of the normal curvature in a given direction at a given point in the image can be computed from a simple difference of slopes of line-segments in one image. Using this result, local surface patches can be classified as convex, concave, parabolic (cylindrical), hyperbolic (saddle point) or planar. At the same time the translational component of the optical flow is obtained, from which the focus of expansion can be computed.

An Analog VLSI Chip for Estimating the Focus of Expansion

For applications involving the control of moving vehicles, the recovery of relative motion between a camera and its environment is of high utility. This thesis describes the design and testing of a real-time analog VLSI chip which estimates the focus of expansion (FOE) from measured time-varying images. Our approach assumes a camera moving through a fixed world with translational velocity; the FOE is the projection of the translation vector onto the image plane. This location is the point towards which the camera is moving, and other points appear to be expanding outward from. By way of the camera imaging parameters, the location of the FOE gives the direction of 3-D translation. The algorithm we use for estimating the FOE minimizes the sum of squares of the differences at every pixel between the observed time variation of brightness and the predicted variation given the assumed position of the FOE. This minimization is not straightforward, because the relationship between the brightness derivatives depends on the unknown distance to the surface being imaged. However, image points where brightness is instantaneously constant play a critical role. Ideally, the FOE would be at the intersection of the tangents to the iso-brightness contours at these "stationary" points. In practice, brightness derivatives are hard to estimate accurately given that the image is quite noisy. Reliable results can nevertheless be obtained if the image contains many stationary points and the point is found that minimizes the sum of squares of the perpendicular distances from the tangents at the stationary points. The FOE chip calculates the gradient of this least-squares minimization sum, and the estimation is performed by closing a feedback loop around it. The chip has been implemented using an embedded CCD imager for image acquisition and a row-parallel processing scheme. A 64 x 64 version was fabricated in a 2um CCD/ BiCMOS process through MOSIS with a design goal of 200 mW of on-chip power, a top frame rate of 1000 frames/second, and a basic accuracy of 5%. A complete experimental system which estimates the FOE in real time using real motion and image scenes is demonstrated.

Green Theorems and Qualitative Properties of the Optical Flow

How can one compute qualitative properties of the optical flow, such as expansion or rotation, in a way which is robust and invariant to the position of the focus of expansion or the center of rotation? We suggest a particularly simple algorithm, well-suited to VLSI implementations, that exploits well-known relations between the integral and differential properties of vector fields and their linear behaviour near singularities.

Recovering Heading for Visually-Guided Navigation

We present a model for recovering the direction of heading of an observer who is moving relative to a scene that may contain self-moving objects. The model builds upon an algorithm proposed by Rieger and Lawton (1985), which is based on earlier work by Longuet-Higgens and Prazdny (1981). The algorithm uses velocity differences computed in regions of high depth variation to estimate the location of the focus of expansion, which indicates the observer's heading direction. We relate the behavior of the proposed model to psychophysical observations regarding the ability of human observers to judge their heading direction, and show how the model can cope with self-moving objects in the environment. We also discuss this model in the broader context of a navigational system that performs tasks requiring rapid sensing and response through the interaction of simple task-specific routines.

A Circuit Grammar For Operational Amplifier Design

Electrical circuit designers seldom create really new topologies or use old ones in a novel way. Most designs are known combinations of common configurations tailored for the particular problem at hand. In this thesis I show that much of the behavior of a designer engaged in such ordinary design can be modelled by a clearly defined computational mechanism executing a set of stylized rules. Each of my rules embodies a particular piece of the designer's knowledge. A circuit is represented as a hierarchy of abstract objects, each of which is composed of other objects. The leaves of this tree represent the physical devices from which physical circuits are fabricated. By analogy with context-free languages, a class of circuits is generated by a phrase-structure grammar of which each rule describes how one type of abstract object can be expanded into a combination of more concrete parts. Circuits are designed by first postulating an abstract object which meets the particular design requirements. This object is then expanded into a concrete circuit by successive refinement using rules of my grammar. There are in general many rules which can be used to expand a given abstract component. Analysis must be done at each level of the expansion to constrain the search to a reasonable set. Thus the rule of my circuit grammar provide constraints which allow the approximate qualitative analysis of partially instantiated circuits. Later, more careful analysis in terms of more concrete components may lead to the rejection of a line of expansion which at first looked promising. I provide special failure rules to direct the repair in this case.