Optical flow calculation using data fusion with decentralized information filter

FERNANDO TELLO GAMARRA; TEODIANO FREIRE BASTOS; MARIO SARCINELLI; CARLOS SORIA; RICARDO CARELLI

Barcelona, Spain

Conferencia; IEEE International Conference on Robotics and Automation; 2005

IEEE

This work presents a new approach to calculate the optical ow, which uses the decentralized information lter to accomplish a data fusion step. The proposal consists in taking some least mean square estimates of the optical ow vector associated to a certain region of the image considered and to fuse them in order to get a more accurate nal estimate of such a vector. Besides this, the way the initial least mean square estimates are obtained is also modied, by reducing the number of observations used to get each one of them, in order to make the overall algorithm faster. The idea is that such initial estimates can be rougher, once the fusion engine improves the  ccuracy of the nal estimate, in the sense that the decentralized information lter generates a nal estimate whose variance is lower than the smallest variance associated to the initial estimates.