David A. Castelow

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The paper describes the combination of several novel algorithms into a system that obtains visual motion from a sequence of images and uses it to recover the threedimensional (30) geometry and 30 motion of polyhedral objects relative to the sensor. The system goes on to use the recovered geometry to recognize the object from a database, a stage which also(More)
This paper describes the combination of several novel algorithms into a system that obtains visual motion from a sequence of images and uses it to recover a three-dimensional description of the motion and geometry of the scene in terms of moving extended straight edges. The system goes on to recognize the recovered geometry as an object from a database of(More)
A relaxation algorithm for the computation of optic flow at edge elements (edgels) is presented. Flow is estimated only at intensity edges of the image. Edge elements, extracted from an intensity image, are used as the basis for the algorithm. A matching strength or weight surface is computed around each edgel and neighbourhood support obtained to enhance(More)
This paper describes the design of a system for estimating the pose of a camera mounted on a vehicle which moves over a flat floor. The system has been designed to work in conjunction with an obstacle avoidance scheme. Measurements are derived from a sequence of images captured by a single camera rigidly mounted on the vehicle and looking at the floor, and(More)
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