Minas E. Spetsakis

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A theory is presented for the computation of three-dimensional motion and structure from dynamic imagery, using only line correspondences. The traditional approach of corresponding microfeatures (interesting points-highlights, corners, high-curvature points, etc.) is reviewed and its shortcomings are discussed. Then, a theory is presented that describes a(More)
One of the main issues in the area of motion estimation given the correspondences of some features in a sequence of images is sensitivity to error in the input. The main way to attack the problem, as with several other problems in science and engineering, is redundancy in the data. Up to now all the algorithms developed either used two frames or depended on(More)
We present a new algorithm that does motion segmentation by tracking small textured patches and then clustering them using EM. A small patch has the advantage that its motion is well modeled by uniform flow and runs a lower risk of boundary inclusion. Inherently, a small patch has less data so it is more susceptible to noise and it is not well suited to fit(More)
In this paper, we present an approach to autonomous robot navigation in an unknown environment. We design and integrate algorithms to reconstruct the scene, locate obstacles and do short-term field-based path planning. The scene reconstruction is done using a region matching flow algorithm to recover image deformation and structure from motion to recover(More)
Many clustering problems in Computer Vision group data points that are the result of statistical estimation and these data points can have a great amount of uncertainty. Motion segmentation by clustering of optical flow is such an example because very often optical flow cannot be estimated without significant uncertainty. We present a EM based clustering(More)
Two difficult issues in optical flow are motion discontinuities and large interframe motion. We present an algorithm that addresses both issues by first performing feature tracking and motion segmentation and then warping one of the images to reduce the interframe motion and avoid the motion discontinuities. The algorithm consists of three major phases: 1)(More)
A theory is presented for the computation of three dimensional motion and structure from dynamic imagery, using only line correspondences. The traditional approach of corresponding microfeatures (interesting points-highlights, corners, high curvature points, etc.) is reviewed and its shortcomings are discussed. Then, a theory is presented that describes a(More)