Gao Zhi, Wang Pengfei, Zhai Ruifang, Tang Yazhe
J Opt Soc Am A Opt Image Sci Vis. 2016 Apr 1;33(4):501-7. doi: 10.1364/JOSAA.33.000501.
Both frontally placed eyes and laterally placed eyes are popular in nature, and although which one is better could be one of the most intuitive questions to ask, it could also be the hardest question to answer. Their most obvious difference is that, at least as supposed in the computer vision community, stereopsis plays the central role in the visual system composed of frontally placed eyes (or cameras); however, it is not available in the lateral configuration due to the lack of overlap between the visual fields. As a result, researchers have adopted completely different approaches to model the two configurations and developed computational mimics of them to address various vision problems. Recently, the advent of novel quasi-parallax conception unifies the ego-motion estimation procedure of these two eye configurations into the same framework and makes systematic comparison feasible. In this paper, we intend to establish the computational superiority of eye topography from the perspective of ego-motion estimation. Specifically, quasi-parallax is applied to fuse motion cues from individual cameras at an early stage, at the pixel level, and to recover the translation and rotation separately with high accuracy and efficiency without the need of feature matching. Furthermore, its applicability on the extended sideways arrangements is studied successfully to make our comparison more general and insightful. Extensive experiments on both synthetic and real data have been done, and the computational superiority of the lateral configuration is verified.
在自然界中，双眼朝前和双眼朝侧的情况都很常见。尽管哪种更好可能是最直观的问题之一，但也可能是最难回答的问题。它们最明显的区别在于，至少在计算机视觉领域中，立体视觉在由双眼朝前（或摄像头）组成的视觉系统中起着核心作用；然而，由于视野缺乏重叠，在双眼朝侧的配置中无法实现立体视觉。因此，研究人员采用了完全不同的方法来对这两种配置进行建模，并开发了它们的计算模拟来解决各种视觉问题。最近，新颖的准视差概念将这两种眼睛配置的自我运动估计过程统一到同一个框架中，使得系统比较成为可能。在本文中，我们打算从自我运动估计的角度确立眼睛布局的计算优势。具体而言，准视差被应用于在早期阶段、像素级别融合来自各个摄像头的运动线索，并在无需特征匹配的情况下高精度、高效率地分别恢复平移和旋转。此外，成功研究了其在扩展的侧向排列上的适用性，以使我们的比较更具普遍性和洞察力。我们对合成数据和真实数据都进行了广泛的实验，并验证了侧向配置的计算优势。
