STRUCTURE-FROM-MOTION ALGORITHMS FOR COMPUTER VISION ON AN SIMD ARCHITECTURE

Algorithms for interpreting the motion of edge features in an image sequence in terms of the position, orientation and motion of a planar visible surface facet have been developed and implemented on an SIMD processor array. The underlying theory of the interpretation based on a simultaneous solution of the structure-from-motion and aperture problems is briefly reviewed and it is explained how the solution can be implemented very simply and efficiently on an SIMD processor array. Test calculations were carried out on the ICL DAP at Queen Mary College to illustrate the implementation and to show that, for an ideal 1: 1 mapping of the image pixels onto the processor array, the algorithms run at speeds that are nearly compatible with real time video frame rates. © 1985