1304 ｪ00020803 00000003 ﾖ040206 04036ｧ9000803 ｦ 000ｹ16 7080303 ﾖ060100000ｸ700 04020900 030002fl02090409 0606 02 01020601080ｹ1 016ｧ809080303 01 0000020903 I. A. 080803066ｧ8010903 ｮ03fi03 ﾖapple060402fi030903 ｯapple0802086 70604020ｸ900 ｨC 0000apple060402fi030608 06fi020903 ｮ.03. 1470, 00066ｧ80102000608 06fi020903 711-10 ｭ0004020602080ｹ10208 ｨC020906080ｷ308060601fi03, ｭ ｮ ﾖ ｮ.03. 1385, 00066ｧ80102000608 06fi020903 711-10 lourakis@fcsd.uch.gr, ics.forth.grg ｨC0006fl02090409 00 0601 0000020902 00000003 04030402fi03 020803 00 01 02 040100036ｧ8080006 070600apple0604020003 00 apple 06 04026ｧ804000603 020803 apple0006066 56ｧ8020208-0002 0ｹ00ｸ9060803 020803, 00fl00 06 apple08020ｹ1 040903 00020601fi 6 706 020900 03020000080309 apple0208fi6 7090409 04' 03020000. 00 apple 06080ｹ104 00066 7 04fl 03apple0804020906fl080006 000206 00 apple 06 04026ｧ804000603 01 026ｧ8020209020003 6 706 0208 040108apple00 020903 apple0208fi6 709040903 03apple0806080ｹ100 00 6ｧ90ｹ0080300 apple08060802060100 0ｹ0 06 0102fi06 01 06 apple 06080304066ｧ8080006 0306 036ｧ90908 08 03apple0802086 7060403080ｹ1 020903 066ｧ802 070903 020ｸ700 04090300fl0ｸ700 0306 03 04010900fi03 0300 6 56ｧ80409 0208 6 56ｧ8090803, apple 06 016ｧ803apple02080002 03 0208 apple06006 5020903 03apple0802086 7060403080ｹ1 0803fi03 apple00 020900 01fl00090409. 00 apple0608020006000003000009 036ｧ90908 0803 0ｹ0060904060308apple080600fl 04 00 00fl0408 08 6ｧ900 08000ｹ16 70803 00060100000ｸ700 0208 08apple08fl08 apple0006010800fl080006 0306 04010900fi apple00 0002 0ｷ3060ｸ903 06 0ｷ30806000206016ｧ8 04090300fl, 0300 026ｧ902080608 020600apple08 0ｸ9040200 040208 016ｧ900020608 01 06 020ｸ700 0ｹ108 00060100000ｸ700 00 apple06086 56ｧ802020002 06 0208 fl 0608 04090300fl08 020903 04010900fi03 (fixated image pair). 6ｧ80900 026ｧ902080608 08000ｹ16 70803 00060100000ｸ700 01 02 6 7066ｧ80ｷ30002 06 apple00 020603 0ｹ108 016ｧ80300060003 00000003 040200060008040108apple0601080ｹ1 04030402fi03 020803 01 06 03apple080600fl 00 09000ｸ706090900fl 000206 apple06086ｧ9060ｹ00002 06 apple00 020900 01fl00090409 020903 0306 03 016ｧ8030006 03 040209 096ｧ90409 020903 6ｧ802020903. 030302fi 09 03apple080900020601fi 01fl00090409 01 06 09 apple0608046ｧ96 76 7060409 020903 06 0601 04fl 03 040ｹ00903 02060403080ｹ1 020ｸ700 00060100000ｸ700 0300 0208 030800026ｧ90208 020903 080609086 706 0ｷ30601fi03 apple06086 50802fi03 08 096 700fl 0400 apple026ｧ903 000706040ｸ904000603 01fl0009040903 6 706 02 04090300fl 020ｸ700 00060100000ｸ700, 0806 08apple08fl0003 00apple0602066ｧ9apple080300 020900 066ｧ802 0709 0ｹ108 04090300fl0ｸ700 0300 6 56ｧ80409 0208 6 56ｧ8090803.
1304 ｪ00020803 00000003 ﾖ040206 04036ｧ9000803 ｦ 000ｹ16 7080303 ﾖ060100000ｸ700 04020900 030002fl02090409 0606 02 01020601080ｹ1 016ｧ809080303 I. ﾖ ｭ ｱ03 ﾌ00 ﾌ00 0106 apple00 020603 apple0608 040903 000206016ｧ903 0601 00000209020003 00000003 6ｧ90202086 70803 04030402fi03 020803 00fl00 06 0302fi 020903 apple0208fi6 709040903, 09 0601 0000020902 0902 fi 020903 0302000008030903 01fl0009040903 040208 apple0006066 56ｧ802020800 020803 0300 6 56ｧ80409 02 00 08036ｧ900 apple0803 apple0608010ｹ1apple02080300 apple00 020603 03000206fi04000603 06 0ｷ300060ｸ700 0604090902fi060ｸ700. ｭ 06 fl02000608 0000 06 0ｷ36ｧ9060800 apple 06080304066ｧ8080006 09 0300026ｧ90209 03090ｹ0 000604030ｸ900 08apple020601fi03 apple0208fi6 709040903, 0806 08apple08fl0806 6 5 04fl08080002 06 0400 010802080309fl0003 00060100000ｸ700 apple0803 01 02 6 7066ｧ80ｷ3080002 06 apple00 08apple020601080ｹ103 0604090902fi060003. ｮ6ｧ90208060806 0604090902fi060003 00fl00 06 0003066ｧ90ｸ703 06 00 08036ｧ9000806 0402080303 6 5060802086 70601080ｹ103 08066 7 00060403080ｹ103 01 06 apple 066ｧ90ｹ0080300 00 08036ｧ900 apple00 02 08apple08fl 03apple080600fl 00 0007 0ｹ00900fl apple0209090ｸ906 apple020906080ｷ30806060ｸ900. 0600 08036ｧ9000803 000206 0306 04030009090604036ｧ90009 apple fl02090409 apple00 6ｧ900 6ｧ90202086 708 040ｹ104020903 00fl00 06 00 020006020803066 700fl 0400 0300 0306016ｧ8 01 06 016ｧ8apple08060003 0ｷ308066ｧ903 6ｧ86 7000ｸ70402 apple0006066 56ｧ80202080002, 09 0601 0000020902 0002fl0209040903 020803 0ｹ00ｸ9060803 00fl00 06 080ｸ7020601fi03 040903 04fl 03 6 706 020900 03020000080309 apple0208fi6 7090409. ﾇ00 apple08020ｹ1 040903 0002060100 04030402 02060100 020903 0002fl0209040903 020803 0ｹ00ｸ9060803 00fl00 06 09 0002fl02090409 020803 6 56ｧ809080303, 020903 0206fl020903 066ｧ80402 040903 020803 010004030803 09 08apple08fl 0ｹ06ｧ8000002 06 01 026ｧ8 020900 apple06086 50802fi 020ｸ700 020309036ｧ8020ｸ700 020803 0400 06 066ｧ80402 020003 00apple060ｷ36ｧ80000060003. 016ｧ90ｹ00606 04fi030006, 0806 0300026ｧ9020003 040ｹ0000206016ｧ8 0300 020900 08apple020601fi apple0208fi6 7090409 00fl00 06 04020900 040300020606apple020601fi apple0200060804090ｷ3fl 02080303 00apple090600 04036ｧ9000003 apple00 020900 00 01 02 04010003 04020601fi 09000ｸ706fl 020803 Marr [1], 040ｹ1030ｷ30ｸ700 0300 020900 08apple08fl 08 02000206-010003 0402000ｹ00803 020903 03apple0802086 70604020601fi03 0006 040903 00fl00 06 09 01 02 04010003fi 0200apple02080300060ｸ900 0300020606010ｸ900 00 apple 06 04026ｧ804000ｸ700 020803 010004030803, 0601 000ｸ900 00 03apple0804020906fl07080300 016ｧ80900 020006020803066 7fl apple0803 0ｹ00600066ｧ8080002 06 apple020906080ｷ30806fl0003 6 5 040604036ｧ9000003 0400 08apple0206016ｧ8 00 08036ｧ900. 0106 01 06 09 09000ｸ706fl 0302fi 06 0ｹ00ｸ706fl080006 020603 06 0601 04fl0003 020903 0002fl0209040903 apple00 03026ｧ903 020903 04016ｧ9040903 01 06 066ｧ8040903, 0208 apple06006 5020903 020903 apple0208fi6 709040903 006ｧ86 70002 06 04020900 00applefl02030409 0ｹ108 apple06086 50209036ｧ8020ｸ700: 03000ｸ7060ｸ90002 03 6ｧ900 apple 06 0209060902fi apple0803 01060000fl02 06 0ｸ703 apple060803 0208 apple0006066 56ｧ802020800 020803, 0208 apple060ｸ90208 apple06006 5020903 00fl00 06 08 03apple0802086 70604030003 0ｷ300000003 0306 03 6 7000ｸ7030002060601fi03 apple0006066 706 0ｷ3fi03 020803 apple0006066 56ｧ802020800020803 01 06 0ｷ300026ｧ9060803 020903 02060604 066ｧ8-0402 020903 01fl0009040903 020803 apple 06 0209060902fi, 036ｧ9040ｸ7 0306 03 010802080309fl 03 00060100000ｸ700 apple0803 01 02 6 7066ｧ80ｷ30006 08 020002000302 fl0803. ｮ08 000ｹ102000608 apple06006 5020903 0ｷ308066ｧ8 0209 0ｹ006fi0409 020903 apple 06 apple6ｧ8000ｸ7 apple0006066 706 0ｷ3fi03 6 706 020800 03apple0802086 706040300 0306 03 0108-02080309fl 03 010600fi04000ｸ700 apple0803 09 00apple0602066ｧ9040006 020900 040ｷ3 02fi 030002 01fl00090409 020803 apple 06 0209060902fi 040208 0ｹ00ｸ90608. ｮ08 apple060ｸ90208 apple06006 5020903 00fl00 06 6 7000ｸ7040200 04 00 apple06006 5020903 03apple0802086 7060403080ｹ1 0803fi03 apple00 020900 01fl00090409 (structure from motion) [2],[3] 01 06 0208 000ｹ102000608 04 00 apple06006 5020903 apple06086 706 0303 02060403080ｹ1 020903 01fl0009040903 (motion planning) [4],[5]. 04 03apple0802086 70604030003 020803 6 56ｧ809080303 020ｸ700 04090300fl0ｸ700 0306 03 04010900fi03 0402 apple02 fl0406 020903 00 01 02 04010003 04020601fi03 09000ｸ706fl 03, apple0802000200fl apple02fi 000ｷ3 0603086 7fi 03000900 0ｸ700 apple0803 0002060300020ｸ7applefl08080300 0208 apple06006 5020903 03apple0802086 7060403080ｹ1 0803fi03 apple00 020900 01fl00090409. 0406 036ｧ90908 0806 03026ｧ903 0402080ｹ0000ｹ1080300 04020800 03apple0802086 706040300 030002060601080ｹ1 (apple080408020601080ｹ1) 6 56ｧ809080303, 0902 fi 04020900 0106066 5fi 000102fl03090409 020903 apple000402 040903 016ｧ80900 04090300fl0803 apple00 020800 apple 06 0209060902fi. 00 03006 76ｧ80209 01 06 03 0106000ｹ006080009 apple060804apple6ｧ8090006 apple0803 6ｧ90ｹ00006 6 7fl000006 6 706 020900 00applefl02030409 020803 apple06086 502fi03 020803 0803fi03 apple00 020900 01fl00090409 01 026ｧ90402090400 04 0ｷ36ｧ903 000206 0306 6 700000601fi 020ｹ10409 00fl00 06 apple08020ｹ1 0ｹ10401080209. ﾇ020406, apple 066ｧ8 020900 00030ｷ36ｧ800060409 0403040209036ｧ8020ｸ700 02 08apple08fl 01 02 0ｷ36ｧ90600080300 00 00apple06020ｹ1080300 0208 apple06006 5020903 030200 0400 apple08020ｹ1 0006 06016ｧ903 apple000606apple020ｸ904000603, 036ｧ90ｹ00606 04fi030006 0000 6ｧ90ｹ00006 6 7fl000006 0300 02fi 09 006ｧ8apple02030709 02000ｹ00006010ｸ900 0601 000ｸ900 00 0002060300020ｸ7applefl08080300 0208 apple06006 5020903 0400 6 7000006016ｧ8, apple06 6 703 0206016ｧ8 apple0006066 56ｧ80202080002. 02030ｸ703 09 01 02 0000090409 016ｧ8apple08060ｸ700 0ｹ0 06 0102090606040206010ｸ900 020803 0ｹ00ｸ9060803 0000 apple 060200fl 01 02' 006ｧ86 70109 020800 03apple0802086 706040300 030002060601080ｹ1 6 56ｧ809080303. 0300 apple 06 04026ｧ804000603 020803 6 56ｧ809080303 apple0803 00fl00 06 02066 70002000608 apple020906080ｷ3080606 016ｧ903 apple00 020900 030002060601fi 02026ｧ8 03apple0806080ｹ100 00 03apple0802086 7060402080ｹ100 000301080200020006, 04030ｹ0006ｧ8 00fl00 06 060100026ｧ903 6 706 02080303 040108apple080ｹ103 020903 apple0208fi6 709040903. ﾖfl00 06 0ｹ0 06 01020906060402060100 000206 02 040303apple00066ｧ80403 02 apple0803 6ｧ90ｹ0080300 0007 0ｹ00900fl apple00 066ｧ80ｷ30806 04030ｹ0080ｷ3030406016ｧ8 apple0006066ｧ803 02 030ｷ306046 50902080ｹ100 020900 0601 0000020902 020803 0009060ｸ9apple06000803 04030402fi03 020803 0006 040903 00 03apple0802086 7fl080006 03000206060100 6 56ｧ8090803 [6], [7]. 030002fl090002, 0208 0009060ｸ9apple060008 040ｹ104020903 0006 040903 00fl00 06 0400 096ｧ90409 00 03apple0802086 7fl080006 016ｧ8apple0806 066ｧ802 0709 020ｸ700 apple 06 020906080ｹ10300000ｸ700 04090300fl0ｸ700 0300 6 56ｧ80409 0208 6 56ｧ8090803 [8]. 01 040608000300000806 0400 026ｧ90208060003 apple 06 020906fi04000603, 040ｹ00802080ｹ103 040200 0300 020800 03apple0802086 706040300 06 02 01020601080ｹ1 01 06 000ｹ006 030002060601080ｹ1 6 56ｧ809080303. 0100 020800 000608 `` 06 02 0102060100 6 56ｧ8090803'' 00000008080ｹ10300 020900 066ｧ802 0709 020ｸ700 04090300fl0ｸ700 0306 03 04010900fi03 0300 6 56ｧ80409 0208 6 56ｧ8090803 02080303, 020900 apple000402 04fi 02080303 0902 fi apple00 020800 apple 06 0209060902fi. ﾌ06 00 01 02 040200fl 0300 02fi 1
130306 026ｧ9020806 02 0706000003090409, apple066ｧ9apple0006 00 03apple0802086 706040200fl 09 040ｹ06ｧ90409 0ｸ703 apple060803 0208 6 56ｧ8090803 00000003 08apple08060803 fiapple080200 08000ｹ16 7080303 04090300fl0ｸ700, 00 00 6 7000ｸ70606040200fl 0902 fi 0208 04090300fl08 020803 08000ｹ16 7080303 apple0803 00fl00 06 010800020ｹ1020006 04020800 apple 06 0209060902fi. ｮ08 06 02 0102060100 6 56ｧ8090803 apple 066ｧ90ｹ00006 04 0ｷ30ｸ903 02066 7000200060003 apple020906080ｷ30806fl0003 apple00 000206 0208 03000206060100, apple060402000ｹ108030300 00030ｸ703 000206 03apple080600fl 00 00fl00 06 apple08020ｹ1 0ｹ006fi04060308 04020900 01 02 0000090409 020803 0ｹ00ｸ9060803 [9]. ｮ 01fl00090206 6 706 020900 006ｧ8apple02030709 020903 03000900 0803 apple0803 09 apple0006066 7066ｧ80408030300 00fl00 06 apple 0600030806 0300 03026ｧ8 apple0600040ｷ3 020903 00066 7 04fl 03 020ｸ700 Huang 01 06 030208fl0308000803 [10], 09 08apple08fl 00apple0602066ｧ9apple0006 0400 6ｧ900 00 000000066 700 apple 06 0209060902fi 00 03apple0802086 7fl040006 0208 02006 708 020ｸ700 6 5 090ｸ900 6 706 08000ｹ16 709 04090300fl0ｸ700 00000003 000206010006036ｧ9000803 0402 08apple08fl 09 0102fl0409 020903 6ｧ90002 040903 00fl00 06 016ｧ809000209 040208 066ｧ800030403 apple0803 0806fl080006 020900 apple 066ｧ80202090209 030002 0ｷ308060601fi 01fl00090409 020803 000206010006036ｧ9000803 0302080ｹ1 0ｸ703 apple060803 0208 00040206 0100 00appleflapple00 08. 00 apple0608046ｧ96 76 7060409 apple0803 01080208030900fl02 06 06 0ｷ36ｧ9060006 060100026ｧ8 apple00 020900 0102 040601fi 00 01 02 04010003 04020601fi apple0608046ｧ96 7-6 7060409, 0306 01 06 0402080ｹ0000ｹ10006 04020800 03apple0802086 706040300 apple0806080206010ｸ900 apple020906080ｷ30806060ｸ900, 01 026ｧ8020209020ｸ700 6 706 020900 01 02 0000090409 020803 0ｹ00ｸ9060803 01 06 6 506fl04010002 06 apple0608 010800026ｧ8 040208 apple00000ｹ103 020903 09000ｸ706fl 03 020903 020002000802086 70601fi03 01 06 apple080608020601fi03 000000066 7080ｹ103 0006 040903 (purposive and qualitative active vision) [11], [12]. ｱ030008apple0206016ｧ8, 03apple0806080ｹ10300 00 00 0ｷ36ｧ90608030300 000206 09 09000ｸ706fl 0302fi 03apple 6 70806000ｹ10006 020800 03apple0802086 706040300 apple08040802fi020ｸ700 0601 000ｸ900 00 03apple0804020906fl07080300 04036 70100010606036ｧ900080303 0402000ｹ0080303 apple0803 6ｧ90ｹ00006 6ｧ900 040ｹ104020903, 04010ｸ90002 03 01 026ｧ80202090208 6ｧ902006 70ｹ008 04020603 apple 06 036ｧ90206080303 apple0803 01 090806fl08080300 020900 06 0601 04fl 04030202086 7fi03 020ｸ700 00060100000ｸ700 6ｧ9020406 0ｸ9040200 0806 00060100000003 apple0803 01 02 6 7066ｧ80ｷ3080002 06 00 0600030108020ｹ100080300 02080303 03apple0802086 7060403080ｹ103 apple0803 apple066ｧ9apple0006 00 0001020002000402080ｹ100. II. 0303 ﾖ ｮ00 ｪ0400 00 040ｹ000020601fi 01fl00090409 00000003 apple 06 0209060902fi 0ｸ703 apple060803 0208 apple0006066 56ｧ802020800, apple060801 0200fl 0202 6 76ｧ903 04020603 0ｷ30ｸ702000600000209020003 020ｸ700 04090300fl0ｸ700 04020900 010802080309fl 020ｸ700 00060100000ｸ700 apple0803 01 02 6 7066ｧ80ｷ30002 06. 0406 0202 6 76ｧ903 03026ｧ903 6ｧ90ｹ0080300 04 00 apple08-026ｧ902000403 020900 0ｷ3 06000003000009 01fl00090409 016ｧ8apple08060ｸ700 020309036ｧ8020ｸ700, 09 08apple08fl 0806fl080006 6ｧ900 06 066ｧ80402 0208 06 00030403 02060100 apple00 fl08 apple0803 apple0006066 7066ｧ80ｷ30006 020603 apple 06 020906080ｹ10300000003 030002 0208applefl04000603. ｮ08 apple00 fl08 030200 080008036ｧ8080002 06 apple00 fl08 08apple020601fi03 0608fi03 (optical flow field). ｱ0ｹ1030ｷ30ｸ700 0300 020900 00 01 02 04010003 04020601fi 09000ｸ706fl, 0208 apple060ｸ90208 04026ｧ8 0608 04020900 006ｧ802030409 020903 01fl0009040903 036ｧ9040ｸ7 00060100000ｸ700 0ｷ308066ｧ8 020900 000102fl03090409 00000003 apple030100080ｹ1 (dense) apple00 fl0803 08apple020601fi03 0608fi03. 06030402030ｹ00ｸ903, 0208 apple06006 5020903 03apple0802086 7060403080ｹ1 020903 08apple020601fi03 0608fi03 0000 00fl00 06 01 026ｧ8 08060604036ｧ90008 03apple00 020900 6ｧ900000806 000206 apple 060200fl 016ｧ8apple08060003 03apple08096ｧ904000603 040ｹ0000206016ｧ8 0300 020900 0308060ｷ3fi 020803 apple00 fl0803 (apple.0ｹ0. 0803 0200020902 ) 0806 08apple08fl0003 0007 040ｷ3 02fl08080300 030800 0601fi 020ｹ10409 [13]. ｮ6ｧ90208060003 03apple08096ｧ904000603 6 7000006016ｧ8 0000 06040ｹ00ｹ1080300, apple0006060806fl08080002 03 020900 0ｹ0060904060300020902 020ｸ700 03000900 0ｸ700 apple0803 020603 0ｹ0060904060308apple0806080ｹ100 0400 0006 06016ｧ903 apple000606apple020ｸ904000603. ﾇ00 6ｧ8020208 apple06006 5020903 6ｧ90ｹ00006 00 016ｧ8000006 0300 020900 0ｷ30ｹ10409 020803 apple00 fl0803 08apple020601fi03 0608fi03. 0406 0202 6 76ｧ903 04020900 0ｷ30ｸ70200060000020902 020ｸ700 04090300fl0ｸ700 0400 0306 010802080309fl 00060100000ｸ700 0000 080ｷ300fl02080002 06 apple0801020006040206016ｧ8 04020900 040ｹ000020601fi 01fl00090409 020803 apple 06 0209060902fi 0ｸ703 apple060803 02 apple 06 020906080ｹ1030000 0002060100fl030000 [14]. 026ｧ8 0403006ｧ9apple0006 0208 apple00 fl08 08apple020601fi03 0608fi03 06 0ｷ36ｧ9060006 apple00 0208 apple00 fl08 01fl0009040903 (motion field), 0208 08apple08fl08 6ｧ90ｹ00006 01 09 066ｧ8 6 7000ｸ7030002060601fi 6ｧ900000806 01 06 0806fl080002 06 apple00 020900 apple06086 50802fi 020903 02060604 066ｧ80402 020903 02 0ｹ00ｹ1020902 03 016ｧ80900 04090300fl0803 0306 03 04010900fi03 apple6ｧ8000ｸ7 040208 00appleflapple00 08 020903 0006010000 03. 0406 Verri 01 06 Poggio 6ｧ9 000607 00 000206 02 0ｹ108 apple00 fl 00fl00 06 0106066 50ｸ903 fl04 0400 apple08020ｹ1 0006 06016ｧ903 apple000606apple020ｸ904000603 [15]. ｮ6ｧ9020803, 09 06 0601 04fl 000102fl0309040903 020903 02060604 066ｧ80402 020903 02 0ｹ00ｹ1020902 03 020803 apple 06 0209060902fi 01 06 020903 0803fi03 020903 04010900fi03 00fl00 06 apple08020ｹ1 0003 fl0409090209 04020900 0ｹ1apple 060709 0908060ｹ16 50803 040208 apple00 fl08 08apple020601fi03 0608fi03 [16], [17]. ﾌ06 02080303 apple 06 apple6ｧ8000ｸ7 02006 7080303, 09 apple080ｷ30ｹ16 708030300 00 03apple0802086 7fl0408030300 0208 apple00 fl08 08apple020601fi03 0608fi03 01 06 09 apple0006060806060402080ｹ10300 04020900 0ｹ006fi0409 020803 apple00 fl0803 016ｧ80900020903 0608fi03 0208 08apple08fl08 09 0806fl0408030300 04020900 0403006ｧ90ｹ00006. ｮ08 apple00 fl08 016ｧ80900020903 0608fi03 6ｧ90ｹ00006 0ｹ0060904060308apple0806090900fl 040208 apple 060002090000 6 706 020900 000102fl03090409 020903 02060604 066ｧ80402 020903 02 0ｹ00ｹ1020902 03, apple.0ｹ0. 040208 [18]. ｯapple08096ｧ902080002 03 000206 0306 010802080309fl 00060100000ｸ700 03apple080600fl 00 09000ｸ706090900fl 04 00 0306 040300000ｹ0fi03 0403006ｧ80602090409 I(x1 7 y1 7 t) 0ｹ108 0ｹ00ｸ70606010ｸ900 (x1 7 y) 01 06 0306 03 0ｹ00608000601fi03 030002 6 5020902fi03 (t) 01 090ｸ903 01 06 000206 09 0ｷ30ｸ70200060000020902 030002 070ｹ1 0002fl040208060ｹ00ｸ700 04090300fl0ｸ700 0400 06 080ｹ006016ｧ903 00060100000003 06 02090600fl02 06, 01 02 02fi6 708030300 04020900 01000208030909 0007fl040ｸ70409 apple0006060806060403080ｹ1 020903 08apple020601fi03 0608fi03 (optical flow constraint equation) 6 706 016ｧ80900 04090300fl08 0306 03 0006010000 03 [19]. I x u + I y v + I t = 0 (1) ｱ020900 040ｹ06ｧ90409 0302fi (u1 7 v) 00fl00 06 0208 066ｧ800030403 020903 08apple020601fi03 0608fi03 01 06 I x 1 7I y 1 7I t 0806 03000606016ｧ903 apple 066ｧ86 70ｸ76 70806 020903 0403006ｧ8060209040903 I 0ｸ703 apple060803 x1 7 y1 7 t. ﾌ066ｧ80ｷ30800026ｧ803 020900 0300 0308060ｷ3fi 00040ｸ70200060601080ｹ1 6 7060008036ｧ9000803 (I x 1 7I y ) (u1 7 v)=;i t (2) 6 5026ｧ9apple08030300 000206 00apple0602066ｧ9apple0006 020800 03apple0802086 706040300 020903 apple06086 50802fi03 020903 08apple020601fi03 0608fi03 040208 066ｧ800030403 020903 0102fl040903 020903 6ｧ90002 040903 (intensity gradient), 0208 08apple08fl08 00fl00 06 016ｧ809000208 04020900 0103fi 040208 0002fl040208060ｹ008 04090300fl08. 00 (2) 2
13 apple0802000200fl 020900 03 090903 020601fi 6ｧ9010ｷ306 0409 020803 apple06086 502fi03 020803 020803 0008fl6 703 020803 (aperture problem), 040ｹ1030ｷ30ｸ700 0300 0208 08apple08fl08 0000 00fl00 06 0300 020003 08 03apple0802086 70604030003 020903 0403000604020ｸ904 03 020903 08apple020601fi03 0608fi03 01 026ｧ8 03fi010803 0306 03 01 02000ｹ1090300040903 06 0ｷ3080600020601fi03 apple00 0302fi00 020903 0102fl040903 0300 6 56ｧ80409 03000008 0208apple06016ｧ903 03000206fi04000603. 00 apple06086 50802fi 020903 08apple020601fi03 0608fi03 01 026ｧ8 03fi010803 020903 0102fl040903, q 080008036ｧ8080002 06 016ｧ809000209 0608fi (normal flow) 01 06 apple00 020900 (2) 09 026 7006 5060601fi 020603fi 020903 00fl00 06 fl0409 0300 ;I t = I 2 x + I 2 y. ｱ0208 [15] apple08 000601000ｹ10002 06 000206 09 06 0ｷ308066ｧ8 030002 070ｹ1 020ｸ700 026 7006 50606010ｸ900 0206030ｸ900 020903 016ｧ80900020903 0608fi03 01 06 020803 apple00 fl0803 016ｧ80900020903 01fl0009040903 (020903 apple06086 50802fi03 020803 apple00 fl0803 01fl0009040903 01 026ｧ8 03fi010803 020903 0102fl040903) 00fl00 06 fl0409 0300 1 di di, 00apple0803 jjrijj 0208 036ｧ9020608 020903 0102fl040903 020903 6ｧ90002 040903 01 06 09 08020601fi apple 066ｧ86 70ｸ76 70803 020903 I 0ｸ703 apple060803 jjrijj dt dt 0208 0ｹ006000008. 026ｧ8 0403006ｧ9apple0006, 09 016ｧ809000209 0608fi 00fl00 06 01 02fi apple0608046ｧ96 76 7060409 020803 apple00 fl0803 016ｧ80900020903 01fl0009040903 0402 04090300fl apple0803 0208 036ｧ9020608 020903 0102fl040903 00fl00 06 03006 76ｧ80208. III. ｮ04 ｱ ｯ ｱ ｮ000103 ｱ ｯ09 ｮ ﾖ ｮ03 ﾌ01 ﾖ090009 03000ｸ706080ｹ10300 0208 040ｹ104020903 040300020002 6 7036ｧ9000ｸ700 OXY Z 0208 08apple08fl08 00fl00 06 apple060804 06030804036ｧ90008 040208 08apple02060100 016ｧ900020608 0306 03 016ｧ8030006 03, 6ｧ9020406 0ｸ9040200 08 6ｧ8070800 03 OZ 00 040303appleflapple020006 0300 020800 08apple02060100 6ｧ8070800. ﾇ04020ｸ7 00applefl040903 000206 09 016ｧ8030006 01060000fl02 06 0ｸ703 apple060803 0306 0402 020601fi 04010900fi 0300 030002 0ｷ308060601fi 01fl00090409 t =(U1 7 V1 7 W) 01 06 apple000606040206080ｷ30601fi 01fl00090409! =(1 7 1 7 ) 00apple0ｸ703 0ｷ3 fl000002 06 040208 040ｹ0fi03 1. Y V ｦﾂ O ｦﾁ U X f y O x ｦﾃ W ｱ0ｹ0fi03 1: ｮ08 040ｹ104020903 040300020002 6 7036ｧ9000ｸ700. 00 apple0006flapple020ｸ70409 0302fi 00fl00 06 6 7000ｸ70300020606016ｧ8 060408 0ｹ100 0309 0300 020900 apple0006flapple020ｸ70409 00apple0803 09 016ｧ8030006 00fl00 06 01fl00090209 01 06 09 04010900fi 01060000fl02 06 0ｸ703 apple060803 0302fi 0300 030002 0ｷ308060601fi 02 0ｹ00ｹ1020902 ; t 01 06 apple000606040206080ｷ30601fi ;!. 00 02 0ｹ00ｹ1020902 00000003 04090300fl0803 P =(X1 7 Y1 7 Z) 0ｸ703 apple060803 0208 040ｹ104020903 040300020002 6 7036ｧ9000ｸ700 OXY Z 00fl00 06 fl0409 0300 ;! P ; t, 00apple0803 0208 0403036 50802fl080006 0208 00070ｸ7020006060100 6 706000003000008. 026ｧ8 0403006ｧ9apple0006, 09 02 0ｹ00ｹ1020902 020803 P 00fl00 06 fl0409 0300 (dx=dt1 7 dy=dt1 7 dz=dt) = (;U ; Z + Y1 7 ;V ; X + Z1 7 ;W ; Y + X) (3) 0406 apple 06 apple6ｧ8000ｸ7 000706040ｸ904000603 09 0ｹ0060904060308apple08060909080ｹ100 040209 0403006ｧ90ｹ00006 6 706 00 0403040ｹ00002fl04080300 0208 apple00 fl08 01fl0009040903 0300 020603 apple 06 036ｧ90206080303 01fl0009040903 t 01 06!. Z IV. 00 ﾖ ｭ ｱ040604 ｰ 00 036ｧ90908 0803 apple0803 09 apple 06080304066ｧ80408030300 0ｹ0060904060308apple080600fl 6ｧ900 08000ｹ16 70803 00060100000ｸ700, 016ｧ80900 0306 apple00 020603 08apple08fl0003 apple0006010800fl080006 0306 04010900fi apple00 0002 0ｷ3060ｸ903 06 0ｷ308060002060100 04090300fl08. 0406 00060100000003 00fl00 06 026ｧ90208060003 0ｸ9040200 0208 016ｧ900020608 02080303 00 apple0006010800fl080006 0208 fl 0608 04090300fl08 F 020903 04010900fi03. ﾇ00 026ｧ902080608 08000ｹ16 70803 00060100000ｸ700, 00fl00 06 6 7000ｸ7040200 0ｸ703 3
1300040206 04036ｧ90008 08000ｹ16 70803 00060100000ｸ700 (fixated image pair) 01 06 03apple080600fl 00 01 02 6 706 0ｷ300fl apple00 6ｧ900 040ｹ104020903 0ｹ108 01 0300060ｸ900, 0806 08apple08fl0003 00fl00 06 040206 03036ｧ9000003 6ｧ9020406 0ｸ9040200 0806 08apple02060108fl 02080303 6ｧ80708000003 00 026ｧ90300080002 06 040208 04090300fl08 F, 0208 08apple08fl08 080008036ｧ8080002 06 04090300fl08 000402fl 040903 (fixation point). 00 066ｧ802 0709 020803 04030402fi03 020803 020ｸ700 0308 01 0300060ｸ900 0ｷ3 fl000002 06 040208 040ｹ0fi03 2, 0208 08apple08fl08 00fl0ｹ0000006 020900 040ｹ000020601fi 096ｧ90409 030002 070ｹ1 020ｸ700 0403040209036ｧ8020ｸ700 040300020002 6 7036ｧ9000ｸ700 6 706 020603 016ｧ80300060003. ｨC060001000602 06 0902 fi 6 706 6ｧ900 040200060008040108apple060100 040ｹ104020903 (stereo system), 040208 08apple08fl08 0806 08apple02060108fl 6ｧ80708000003 04036 70102fl00080300 0002fl 00 00fl00 06 apple 066ｧ8020209020806 00apple0ｸ703 04030ｹ0006ｧ8 0403036 5 fl000006 0402 040200060008040108apple06016ｧ8 04030402fi03 02. 00 066ｧ802 0709 0302fi 00fl00 06 040ｹ0000206016ｧ8 000ｹ101080208 00 00apple060200030ｹ00900fl 0300 0306 03090ｹ0 000601fi 01000ｷ3 02fi 00apple0ｸ703 0302fi apple0803 apple0006066 7066ｧ80ｷ30002 06 040208 [20] 01 06 00fl00 06 apple08020ｹ1 04030009090604036ｧ90009 006ｧ8030004 0402080303 6 5060802086 70601080ｹ103 08066 7 00060403080ｹ103 0300 040200060008040108apple0601fi 0006 0409. Y Y ｯ Z ｯ Z F ｦﾈ X f f O O ｯ X ｯ ｱ0ｹ0fi03 2: 00 6 7000ｸ703000206fl 020803 04030402fi03 020803 020ｸ700 0ｹ108 01 0300060ｸ900. 00 apple020906080ｷ30806fl 6 706 0208 6 56ｧ8090803 0400 6ｧ900 040200060008040108apple060100 08000ｹ16 70803 6 506fl04010002 06 04020603 030002 0208applefl04000603 (disparities) 020ｸ700 apple06086 508020ｸ900 020ｸ700 04090300fl0ｸ700 020903 04010900fi03 0402 00appleflapple00 020ｸ700 0ｹ108 00060100000ｸ700. ｮ03apple06016ｧ8, 09 00apple000700066 7 04fl 00000003 040200060008040108apple0601080ｹ1 08000ｹ16 7080303 0402080ｹ0000ｹ10006 04020800 03apple0802086 706040300 020ｸ700 030002 0208applefl04000ｸ700 036ｧ9040ｸ7 020903 000206040208fl0ｹ006040903 (correspondence) 020ｸ700 apple06086 508020ｸ900 020ｸ700 04090300fl0ｸ700 04020603 0ｹ108 00060100000003 01 06 04020900 0403006ｧ90ｹ00006 020900 000102fl03090409 020803 6 56ｧ809080303 036ｧ9040ｸ7 020903 6 7000ｸ7030002060601fi03 06 0601 04fl 03 020903 0206066 70ｸ70008apple08fl09040903 (triangulation). ｮ08 03040108020002000608 apple06006 5020903 04020900 apple066ｧ80709 00fl00 06 09 00applefl02030409 020803 apple06086 502fi03 020803 020903 000206040208fl0ｹ006040903. 00 036ｧ90908 0803 apple0803 09 apple 06080304066ｧ80408030300 01080208030900fl 06 0ｷ3080600020601fi apple0608046ｧ96 76 7060409, 09 08apple08fl 0000 apple 060200fl 020900 apple02fi0609 00applefl02030409 020803 apple06086 502fi03 020803 0302080ｹ1. ﾇ00 08000ｹ16 70803 00060100000ｸ700 apple0803 040302026ｧ96 70002 06 apple00 6ｧ900 040200060008040108apple060100 040ｹ104020903, 03apple080600fl 00 09000ｸ706090900fl 04 00 0306 010802080309fl 00060100000ｸ700 01 06 00 00 02030900fl 0300 02000ｹ00006016ｧ903 006ｧ80203040903 01fl0009040903. ｨC066ｧ86 703 0206, 6ｧ900 026ｧ902080608 08000ｹ16 70803 00060100000ｸ700 00fl00 06 0208 fl 0608 0300 030200 apple0803 09 01 026ｧ96 706 0ｷ300 0306 010600080ｹ103000009 016ｧ8030006, 09 08apple08fl 020900 0ｹ00608000601fi 0402066 703fi t 09 fi02 00 04020900 096ｧ90409 020903 060604020006fi03 ( 0007066ｧ803) 016ｧ8030006 03 020803 040200060008040108apple0601080ｹ1 04030402fi03 020803 01 06 020900 0ｹ00608000601fi 0402066 703fi t + 1 04020900 096ｧ90409 020903 0007066ｧ803 ( 060604020006fi03). 00 016ｧ8030006 0302fi 01060000fl02 06 0300 026ｧ902080608 020600apple08 0ｸ9040200 0806 08apple02060108fl 020903 6ｧ80708000003 0400 0308 06 080ｹ006016ｧ903 096ｧ904000603 020903 00 066ｧ9060ｹ0080002 06 apple00 0208 fl 0608 04090300fl08 0306 03 04010900fi03, 0ｹ00ｸ706fl03 00 apple0006060402066ｧ90ｷ30002 06 6 70ｹ1060ｸ7 apple00 02080303 6ｧ80708000003 OX, OZ. 00 apple0608096 7080ｹ103000009 apple 06 02fi06090409, 03apple080600fl 00 006ｧ86 70006 016ｧ80900 apple06006 5020903 040200060008040108apple0601fi03 006ｧ80203040903 0400 apple06006 5020903 006ｧ80203040903 01fl0009040903 01 06 06040ｹ00ｹ10006 0000076ｧ806020902 apple00 020900 040ｹ000020601fi 096ｧ90409 020ｸ700 01 0300060ｸ900 020803 040200060008040108apple0601080ｹ1 04030402fi03 020803. 04 03apple0802086 70604030003 020803 06 02 01020601080ｹ1 6 56ｧ809080303 09 6 5 0406040200fl 04020900 006ｧ802030409 020903 03apple080900020601fi03 01fl0009040903 020903 0306 03 016ｧ8030006 03 04020900 096ｧ90409 020903 6ｧ802020903. 026ｧ8 020900 066ｧ806010006 0302fi03 020903 03apple080900020601fi03 01fl0009040903, 0208 apple0006066 56ｧ802020800 00fl00 06 0402 02060100 00 08036ｧ9000803 000206 0806 00060100000003 016ｧ80900 00040206 04036ｧ9000803 08000ｹ16 7080303 01 02 6 7066ｧ80ｷ3080002 06 020900 fl 06 0ｹ00608000601fi 0402066 703fi. 00 03apple080900020601fi 01fl00090409 020903 016ｧ8030006 03 01 090806fl080002 06 apple00 02066 7000200060003 apple 06 036ｧ90206080303 apple00 00,0206 09 6 700000601fi apple0006flapple020ｸ70409 01fl0009040903 01 06 apple0006066 7066ｧ80ｷ30002 06 apple00 apple02080ｹ1040200060003 000706040ｸ904000603. ｮ08 6 7006 708000003 000206 0806 030002 0208applefl04000603 0400 0306 apple000606080ｹ0fi 6 70ｹ1060ｸ7 apple00 0208 016ｧ900020608 020ｸ700 00060100000ｸ700 00fl00 06 030601066ｧ903, 00apple0602066ｧ9apple0006 020800 03apple0802086 706040300 020ｸ700 0ｹ00ｸ706080ｹ006080006010ｸ900 03000606010ｸ900 apple 06 6 70ｸ96 70ｸ700 020903 6ｧ90002 040903, 6ｧ806 01 06 020903 016ｧ80900020903 0608fi03. ﾖapple06apple026ｧ90800, 0400 0306 apple000606080ｹ0fi 6 70ｹ1060ｸ7 apple00 020800 08apple02060100 6ｧ8070800, 00fl00 06 000ｷ3060102fi 09 apple0608046ｧ96 76 7060409 020903 06 0601 04fl 03 040ｹ00903 02060403080ｹ1 020ｸ700 00060100000ｸ700 0300 0208 030800026ｧ90208 020903 04090000080ｹ103 apple060808apple020601fi03 apple06086 50802fi03 (weak perspective projection). ｱ0ｹ1030ｷ30ｸ700 0300 0208 030800026ｧ90208 030200, 6ｧ900 04090300fl08 P 0300 040300020002 6 7036ｧ9000003 (X1 7 Y1 7 Z) 0ｸ703 apple060803 0208 040ｹ104020903 00 0ｷ308066ｧ803 apple0803 00fl00 06 apple060804 06030804036ｧ90008 04020900 016ｧ8030006, apple06086 56ｧ802020002 06 040208 04090300fl08 (x1 7 y) 040208 00appleflapple00 08 020903 0006010000 03, 0300 x = sx 1 7 y = sy (4) 00apple0803 s 00fl00 06 0306 0900020601fi 0402 0900066ｧ8, 040300fi090ｸ703 fl0409 0300 f=z 0 00apple0803 f 01 06 Z 0 09 00040206 01fi apple000402 0409 (focal 4
13length) 01 06 0208 036ｧ90408 6 56ｧ8090803 020803 apple 06 020906080ｹ10300000803 apple0006066 56ｧ802020800020803 0002fl040208060ｹ0. 00 04090000fi03 apple060808apple020601fi apple06086 50802fi 08 096 700fl 0400 apple026ｧ903 000706040ｸ904000603 6 706 020900 01fl00090409 6 706 02fl 0806 040ｹ06ｧ904000603 (4) 00fl00 06 6 706 030306016ｧ903 0ｸ703 apple060803 X1 7 Y. ﾖ0700026ｧ808080002 03 0208 026ｧ8090803 apple0803 0006046ｧ86 70006 09 04090000fi03 apple060808apple020601fi apple06086 50802fi, 01 02 02fi6 708030300 000206 09 020002000302 fl apple0802000200fl 01 02fi apple0608046ｧ96 76 7060409 020903 apple060808apple020601fi03 apple06086 50802fi03 6 706 04090300fl apple0803 6 506fl0401080002 06 010800026ｧ8 04020800 08apple02060100 6ｧ8070800 01 06 6ｧ806 apple06086 56ｧ80202080002 06 010800026ｧ8 040208 016ｧ900020608 020ｸ700 00060100000ｸ700 [9]. V. ｯｨC040804 ﾌ ｭ ｱ0104 ｰ 06 ｭ03 ｮ03 ｮ ｭ 04 ｯ 01030304 ｯ ｰ 03060ｹ0fl0808030300 0300 020603 000706040ｸ904000603 apple0803 0403040ｹ00002fl08080300 020900 016ｧ809000209 0608fi 0300 020603 apple 06 036ｧ90206080303 01fl0009040903. ﾇ04020ｸ7 0208 04090300fl08 (X1 7 Y1 7 Z), 0208 08apple08fl08 036ｧ9040ｸ7 020903 04090000080ｹ103 apple060808apple020601fi03 apple06086 50802fi03 apple0006010800fl080002 06 040208 04090300fl08 (x1 7 y).00020603fi(u1 7 v) 020803 apple00 fl0803 01fl0009040903 040208 04090300fl08 (x1 7 y) 00fl00 06 0007' 0806060403080ｹ1 fl0409 0300 0406 dx dt 1 7 dy dt u = dx dt = sdx dt 1 7 v = dy dt = sdy dt fl00080002 06 apple00 020900 (3), 08apple000200 0806 (5) 0300 00020601 026ｧ80402 0409 fl00080300 u = s(;z + Y ; U) 1 7 v = s(;x + Z ; V ) (6) 03 010802080309080ｹ10300 020900 040ｹ1036 5 0409 000206 09 03apple080900020601fi 01fl00090409 020903 016ｧ8030006 03 apple0803 00 0ｷ36ｧ90609090100 apple 06 apple6ｧ8000ｸ7 6 7fl000002 06 0300 0ｷ308066ｧ8 apple00 020900 060604020006fi 016ｧ8030006 020803 040200060008040108apple0601080ｹ1 04030402fi03 020803 apple060803 020900 0007066ｧ8. 00 01fl00090409 0302fi apple0006066 7066ｧ80ｷ30002 06 0300 02066 7000200060003 apple 06 036ｧ90206080303 apple00 020603 apple6ｧ9000200 apple0803 00030ｷ3 00fl08080002 06 04020603 000706040ｸ904000603 (6). ｱ036 70100010606036ｧ900, apple00 0208 040ｹ0fi03 3 0ｷ3 fl000002 06 000206 0208 040ｹ104020903 040300020002 6 7036ｧ9000ｸ700 OXY Z 03apple080600fl 00 030002 0ｷ300060900fl 0ｸ9040200 00 040303apple6ｧ9040006 0300 0208 O 0 X 0 Y 0 Z 0 0300 0306 apple000606040206080ｷ3fi 6 70ｹ1060ｸ7 apple00 020800 6ｧ8070800 OY,0306 030002 0ｷ308066ｧ8 04020800 6ｧ8070800 OX 01 06 0306 030002 0ｷ308066ｧ8 04020800 6ｧ8070800 OZ. 0406 010600fi04000603 03026ｧ903 apple0006066 7066ｧ80ｷ3080002 06 apple00 020603 apple 06 036ｧ90206080303 1 7 U1 7 W 0002fl040208060ｹ0. 00 apple000606040206080ｷ3fi 6 70ｹ1060ｸ7 apple00 020800 6ｧ8070800 OY 00fl00 06 01 026ｧ8 020900 0900020601fi 0ｷ308066ｧ8, 00apple08036ｧ9000ｸ703 00fl00 06 >0. 0406 030002 0208applefl04000603 00fl00 06 0600090206016ｧ903 0ｷ3080ｹ1 6ｧ90ｹ0080300 020900 0002fl09000209 0ｷ308066ｧ8 apple00 0302fi00 020ｸ700 09000206010ｸ900 090306 0700000ｸ700 OX1 7 OZ, 00apple08036ｧ9000ｸ703 00fl00 06 U<01 7W < 0. 0406 apple 066ｧ8030002060806 1 7 1 7 V 00fl00 06fl04000303000309 6ｧ900. F Z ｦﾂ Z ｯ (5) -U -W X ｦﾂ ｦﾈ 0ﾍ1 O O ｯ ｱ0ｹ0fi03 3: 6ｧ802080409 020ｸ700 0403040209036ｧ8020ｸ700 040300020002 6 7036ｧ9000ｸ700 6 706 020603 0308 016ｧ80300060003. 0406 6ｧ80708000003 OY, O 0 Y 0 00fl00 06 016ｧ80900020806 040208 00appleflapple00 08 020903 040002fl 03, 0300 0ｷ308066ｧ8 apple060803 020800 00 6 7000ｸ9040209. 0100 6 56ｧ80409 02 apple 06 apple6ｧ8000ｸ7, 0806 000706040ｸ904000603 (6) apple0208apple0806080ｹ10002 06 04020603 00 026 7006 5060601fi 020603fi 020803 apple00 fl0803 016ｧ80900020903 01fl0009040903 00fl00 06 fl0409 0300 u n = (u1 7 v)( Ix jjrijj 1 7 X ｯ u = s(;z ; U) 1 7 v = 0 (7) I y )= jjrijj 5 Ix s(;z ; U) (8) jjrijj
13 ｯapple08096ｧ902080002 03 000206 I x 6= 0, 09 020002000302 fl 040ｹ06ｧ90409 03apple080600fl 00 6 706 0ｷ30200fl 01 06 04 00 u n jjrijj I x = ;sz ; su (9) ｨC060804006 76 7fl08080002 03 0208 apple00 fl08 016ｧ80900020903 01fl0009040903 0300 0208 apple00 fl08 016ｧ80900020903 0608fi03, 03apple0806080ｹ10300 00 00020601 02 0402fi- 0408030300 0208 u n 0300 020900 026 7006 5060601fi 020603fi 020803 apple00 fl0803 016ｧ80900020903 0608fi03, 09 08apple08fl 00apple0ｸ703 6ｧ90ｹ008030300 fi 09 00fl070006 00fl00 06 fl0409 0300 ; It. 026ｧ8 0403006ｧ9apple0006, 09 0007fl040ｸ70409 (9) 6 7fl000002 06 jjrijj ; I t I x = ;sz ; su (10) ｱ0208 04090300fl08 030200, apple 06 020906080ｹ10300 000206 apple00020ｹ10ｹ0 0300 020800 03apple0802086 706040300 0306 03 0403006ｧ8060209040903 020803 6 56ｧ809080303 020903 0308060ｷ3fi03 r(z)=az + B 00apple0803 A 01 06 B 6ｧ86 7000ｸ704020003 0402 0900066ｧ903. 00 0403006ｧ80602090409 0302fi 00fl00 06 06010002fi 6 706 020800 03apple0802086 706040300 020803 apple060804fi030803 020903 01 03apple030200020902 03 Gauss 020ｸ700 00apple060ｷ3 0000060ｸ900 apple0803 apple0006010800fl08080002 06 04020603 00060100000003, apple 066ｧ90ｹ0080002 03 6ｧ9020406 0306 apple080608020601fi apple0006066 706 0ｷ3fi 020803 040ｹ0fi03 020003 02080303 [9]. 03000ｸ706080ｹ10300 020ｸ906 6ｧ900 08000ｹ16 70803 04090300fl0ｸ700 P 1 1 7P 2 0300 040300020002 6 7036ｧ9000003 (70 1 1 7 ｯ 1 1 7 ｦ 1 ) 01 06 (70 2 1 7 ｯ 2 1 7 ｦ 2 ) 01 06 0002fl040208060ｹ00003 0000026ｧ804000603 I 1 1 7I 2. 00 (10) fl000006 6 706 02 04090300fl 03026ｧ8 ; I1 t I 1 x = ;sz 1 ; su 01 06 ; I2 t I 2 x 030ｷ3 06060ｸ90002 03 01 026ｧ8 036ｧ90209 020603 apple 06 apple6ｧ8000ｸ7 040ｹ06ｧ904000603 6ｧ90ｹ008030300 = ;sz 2 ; su (11) B 11 72 ; I1 t + I2 t = I 1 x I 2 s(z 2 ; Z 1 ) (12) x 0600 08036ｧ9000803 000206 s1 7 > 0, 0208 apple060004090308 020903 06 0ｷ308066ｧ803 Z 2 ; Z 1 00fl00 06 fl 0608 0300 0208 apple060004090308 020803 B 11 72. ｮ08 6 7006 708000003 000206 0ｹ0060904060308apple080600fl02 06 03000008 0208 apple060004090308 020903 apple080400020902 03 01 06 000ｹ006 09 026 7006 5060601fi 020903 020603fi, 0007 040ｷ3 02fl080006 016ｧ8apple0806 00080ｹ0fi 0400 026ｧ80909 04020900 000402fl 0409 (fixation) 01 026ｧ8 02 08apple08fl 0208 04090300fl08 000402fl 040903 0000 apple0006010800fl080002 06 0106066 50ｸ903 0402 016ｧ9000206 020ｸ700 00060100000ｸ700 02026ｧ8 00fl00 06 030002 0208apple0604036ｧ90008 apple00 03026ｧ8 01 026ｧ8 03000606016ｧ8 pixels 04020900 0806060800000206 066ｧ80402 0409. 00 0007fl040ｸ70409 (12) 00apple0602066ｧ9apple0006 020900 040ｹ16 70106060409 020903 06 0ｷ308066ｧ803 020803 6 56ｧ809080303 0ｹ108 04090300fl0ｸ700 0300 020900 036ｧ96 706040209 06 0ｷ308066ｧ8 6 56ｧ809080303 04020900 04010900fi. ﾇ04020ｸ7 apple.0ｹ0. 0208 04090300fl08 m 0300 0208 00026ｧ80ｹ006040208 6 56ｧ8090803 Z m 04020900 04010900fi 01 06 0208 04090300fl08 M 0300 0208 036ｧ96 706040208 6 56ｧ8090803 Z M. ｮ 04090300fl 03026ｧ8 00fl00 06 0208 apple060ｸ90208 01 06 0208 020002000302 fl08 040208060ｹ000fl08 020903 02 070600080309036ｧ9000903 (01 026ｧ8 0ｹ107080304 026ｧ80709) 010802080309fl 03 020ｸ700 6 5 090ｸ900. ﾇ04020ｸ7 00applefl040903 02 04090300fl i1 7 j 0300 0002fl040208060ｹ0 6 56ｧ80909 Z i 1 7Z j. 00 (12) fl000006 B M1 7m ; I M t I M x + I m t I m x = s(z m ; Z M ) 01 06 B i1 7j ; I t i + I j t Ix i Ix j = s(z j ; Z i ) (13) 0606 06060ｸ90002 03 01 026ｧ8 036ｧ90209 020603 0ｹ108 apple0608096 7080ｹ10300000003 000706040ｸ904000603, 0ｷ3026ｧ80008030300 04020900 Z i ; Z j Z M ; Z m = B i1 7j B M1 7m (14) 00 0007fl040ｸ70409 (14) fl000006 020900 040ｹ000020601fi 06 0ｷ308066ｧ8 6 56ｧ809080303 6 706 0208 08000ｹ16 70803 020ｸ700 04090300fl0ｸ700 i1 7 j, 0306 01 06 01 090806fl080006 0208 02006 708 020903 06 0ｷ308066ｧ803 020ｸ700 6 5 090ｸ900 02080303 apple060803 0306 0402 090006fi apple080400020902 (fl0409 0300 Z M ;Z m 04020900 apple0608010006036ｧ90009 apple0006flapple020ｸ70409). 6
13VI. 0804 ﾌ03 ｪ ｭ0301 ｭ 04 ｰ ｨC0408 ｭ 04 ｰ 01 ﾖ ｮ03 ｱ70000103 ｮ ｭ ｱ0104 ｰ 00 036ｧ90908 0803 03apple0802086 7060403080ｹ1 06 02 01020601080ｹ1 6 56ｧ809080303 apple0803 apple 06080304066ｧ80402090100 apple 06 apple6ｧ8000ｸ7, 6 5 04fl080002 06 04020800 03apple08-02086 706040300 020903 016ｧ80900020903 0608fi03. 0600 08036ｧ9000803 000206 08 03apple0802086 70604030003 03020003 03apple08096ｧ9020006 000206 09 0ｹ0060904060308apple0806080ｹ103000009 010802080309fl 00060100000ｸ700 03apple080600fl 00 apple0006066 706 0ｷ300fl apple00 0306 040300000ｹ0fi 0403006ｧ80602090409 0206060ｸ900 030002 6 50209020ｸ900, 09 01fl00090409 030002 070ｹ1 0ｹ108 06 080ｹ006010ｸ900 00060100000ｸ700 09 apple066ｧ9apple0006 00 00fl00 06 03060106fi. 026ｧ8 0403006ｧ9apple0006, 0806 030002 0208applefl04000603 030002 070ｹ1 0ｹ108 06 080ｹ006010ｸ900 00060100000ｸ700 09 apple066ｧ9apple0006 00 00fl00 06 020903 026ｧ8070903 03000606010ｸ900 pixels. ｱ020900 apple0006flapple020ｸ70409 00000003 00040206-04036ｧ9000803 08000ｹ16 7080303, 09 apple fl02090409 0302fi 0601 0008apple080600fl02 06 apple00 02 04090300fl apple0803 6 506fl0401080002 06 010800026ｧ8 040208 016ｧ900020608 020ｸ700 00060100000ｸ700. ｨC06080ｹ00ｸ7060ｸ90002 03 00030ｸ703 apple060803 020900 apple0006060ｷ36ｧ9060006, 0806 030002 0208applefl04000603 6 7fl00080002 06 060100026ｧ8 03006 7 020ｹ10200-060003, 0300 apple08026ｧ902000403 00 030900 03apple080600fl 00 03apple0802086 706040200fl 09 0ｹ00608000601fi 0300060601fi apple 066ｧ86 70ｸ76 70803 020903 6ｧ90002 040903. ﾌ06 00 0002060300020ｸ7apple06040200fl 0208 apple06006 5020903 030200, 0ｹ0060904060308apple080600fl02 06 08 02086 7 0606090306010003 apple080206010003 030002 040ｹ00903 020604030003 (log-polar transform). 04 030002 040ｹ00903 020604030003 03020003 apple0006010800fl080006 0208 04090300fl08 (x1 7 y) 040208 04090300fl08 (1 7 ) 00apple0803 = ln( q x 2 + y 2 ) 1 7 = arctan( y x ) (15) ﾖapple0006 fi 08 02086 76ｧ8060609030803 020803 0309 6ｧ900 0000 0806fl080002 06, 08 02086 7 0606090306010003 apple080206010003 030002 040ｹ00903 020604030003 0000 000ｷ3 060300080002 06 0402 04090300fl 0306 03 0006010000 03 apple0803 6 506fl0401080002 06 040208 00040ｸ7020006060100 00000003 03060106080ｹ1 010301020601080ｹ1 fl04010803 040208 016ｧ900020608 020903. 00 apple0006010000060409 apple0803 0806fl08080300 0806 000706040ｸ904000603 (15) 0ｷ3 fl000002 06 040208 040ｹ0fi03 4. ｮ 020002000302 fl 0ｹ006000006 6ｧ90ｹ0080300 01 02 04010003 040200fl 016ｧ80300060003 CCD 0806 08apple08fl0003 030208apple0806080ｹ100 020900 apple0006010000060409 0302fi 0400 hardware [21]. y ｦﾇ p p q x ｦﾎ q ｱ0ｹ0fi03 4: 08086 7 0606090306010003 apple080206010003 030002 040ｹ00903 020604030003. 04 060609030003 020ｸ700 04090300fl0ｸ700 (x1 7 y) 02 08apple08fl apple0006010800fl08080002 06 0400 6ｧ900 04090300fl08 ( 0 1 7 0 ) 036ｧ9040ｸ7 020803 02086 7 060609-030601080ｹ1 apple08020601080ｹ1 030002 040ｹ00903 02060403080ｹ1, 0007 06026ｧ802 06 apple00 020900 apple000402 0409 020803 04090300fl0803 0302080ｹ1 apple00 020900 060ｹ0fi 020ｸ700 0700000ｸ700 1 7. 03030200 6 7fl000002 06 000301080200020006 01 02 0008090200 0300 020900 6 508fi090006 020803 040ｹ0fi03 020803 4 040208 08apple08fl08 0ｷ3 fl000002 06 000206 08 060609030003 020ｸ700 04090300fl0ｸ700 020803 apple00 fl0803 (x1 7 y) apple0803 apple0006010800fl08080002 06 0400 6ｧ900 04090300fl08 020803 apple00 fl0803 (1 7 ), 03076ｧ8000002 06 0300 020900 apple000402 0409 apple00 0208 016ｧ900020608 020903 0006010000 03. 04 6 5 0406010003 02006 70803 6 706 030200 00fl00 06 000206 09 0102fl00 020ｸ700 08030001000002060ｸ700 010ｹ101020ｸ700 040208 040ｹ0fi03 4, 03076ｧ8000002 06 000109000206016ｧ8. ﾇ020406, 0806 030002 0208applefl04000603 apple0803 030002060ｸ90002 06 040208 apple00 fl08 (1 7 ) 00fl00 06 apple08020ｹ1 03060106000200060003 apple00 03026ｧ903 020803 apple00 fl0803 (x1 7 y), 00apple0602066ｧ9apple080002 03 020800 03apple0802086 706040300 020903 0ｹ00608000601fi03 0300060601fi03 apple 06 6 70ｸ96 70803. 0100 6 56ｧ80409 02 apple 06 apple6ｧ8000ｸ7, 08 03apple0802086 70604030003 020903 016ｧ80900020903 0608fi03 6 7fl000002 06 036ｧ9040ｸ7 020803 02086 7 060609030601080ｹ1 apple08020601080ｹ1 030002 040ｹ00903 02060403080ｹ1. ｱ0208 [9] apple08 000601000ｹ10002 06 000206 0806 03000606016ｧ903 apple 066ｧ86 70ｸ76 70806 020903 6ｧ90002 040903 0ｸ703 apple060803 x1 7 y fl00080002 06 040300 0602fi040006 03020ｸ900 0ｸ703 apple060803 1 7 apple00 020603 040ｹ06ｧ904000603 @I = @I @x @ 1 @I cos() ; @ 1 @I sin() 01 06 = @I @y @ 1 @I sin()+ @ 1 cos() (16) 7
13VII. ｯ0804ｨC04 ｭ00 ｱ00 03 ｭ 03ｨC04 ｮ ﾖ08 ﾖ ｱ0103 ｮ03 A. ｯapple0802086 70604030003 020ｸ700 01000606010ｸ900 ｨC 06 6 70ｸ96 70ｸ700 04 03apple0802086 70604030003 020803 06 01060602080ｹ1 02086 7 060609030601080ｹ1 apple08020601080ｹ1 030002 040ｹ00903 02060403080ｹ1 6 7fl000002 06 0300 020900 0ｹ006fi0409 066 706 03030601fi03 apple 0600036 50802fi03 (bilinear interpolation). 04 030002 040ｹ00903 020604030003 0000 03apple0802086 7fl080002 06 6 706 02 04090300fl apple0803 6 506fl0401080002 06 036ｧ904 0400 6ｧ900 fl040108 0102fl00 03 5 pixels 040208 016ｧ900020608 020ｸ700 00060100000ｸ700. 6ｧ80900 00fl6 703 04020800 6ｧ8070800, apple6ｧ90ｹ00006 apple00 0208 016ｧ900020608 020ｸ700 00060100000ｸ700 apple000402 0409 fl0409 0300 0208 1:05 020903 0002fl040208060ｹ00903 apple000402 040903 020803 apple0608096 7080ｹ10300000803 00fl6 703 020803. ｮ08 6 5fi03 00066 703 0208020904fl 03 6 706 020800 6ｧ8070800 00fl00 06 fl0408 0300 0:5. 02apple0ｸ703 apple08 000601000ｹ10002 06 040208 [9], 09 0300060601fi apple 066ｧ86 70ｸ76 70803 0ｸ703 apple060803 020800 0ｹ006000008 00fl00 06 09 fl 06, 0000076ｧ806020902 apple00 0208 00 03apple0802086 7fl080002 06 040208 apple00 fl08 x1 7 y fi0402081 7. ﾇ020406,09I t 03apple0802086 7fl080002 06 apple00 020800 036ｧ90408 000608 020ｸ700 06 0ｷ308060ｸ900 020ｸ700 pixels 020ｸ700 02086 7 0606090306010ｸ900 apple080206010ｸ900 00060100000ｸ700 0400 0306 3 3 6 70006020800066ｧ8. ﾌ06 020800 03apple0802086 706040300 020ｸ700 0ｹ00ｸ70606010ｸ900 03000606010ｸ900 apple 06 6 70ｸ96 70ｸ700 I x 1 7I y 0ｹ0060904060308apple080600fl02 06 09 036ｧ90908 0803 020803 Canny [22]. 04 03apple0802086 70604030003 020ｸ700 I x 1 7I y 6 7fl000002 06 036ｧ9040ｸ7 020803 03apple0802086 7060403080ｹ1 020ｸ700 I 1 7I 01 06 020ｸ700 000706040ｸ904000ｸ700 (16). 04 02006 70803 apple0803 0806 I x 1 7I y 0000 03apple0802086 7fl08080002 06 apple' 00030900fl 03 040208 apple00 fl08 x1 7 y 00fl00 06 000206 0306 0006010000 040208 apple00 fl08 1 7 00fl00 06 030601060002000609 apple00 020900 0002fl040208060ｹ009 040208 apple00 fl08 x1 7 y, 01 06 01 026ｧ8 0403006ｧ9apple0006 0806 03apple0802086 706040308fl apple 0602080ｹ100 02066 70002000608 0ｹ006000008. 0406 00060100000003 apple.0ｹ0. apple0803 0ｹ0060904060308apple0806fi090901 00, 6ｧ90ｹ0080300 036ｧ96 700090803 65057400000ｸ9 0806 02086 7 06060903060108fl apple0802060108fl 030002 040ｹ00903 0206040308fl 02080303 00fl00 06 93 720, apple0006flapple0803 5:5 0ｷ308066ｧ903 03060106000200060806 00040800 0ｷ308066ｧ8 020800 0606090300 020ｸ700 pixels. B. 0606 02 01020601fi 0300 apple 066ｧ80402 0409 020803 016ｧ809080303 03apple00 020900 006ｧ802030409 apple0803 apple0608096 7fi09090100, apple0608010ｹ1apple020006 000206 6 706 00 apple080ｷ3 0009080ｹ10300 6 706 020900 040ｹ06ｧ90409 0ｸ703 apple060803 0208 6 56ｧ8090803 00000003 04090300fl0803 0300 6ｧ80202, apple066ｧ9apple0006 00 06040ｹ00ｹ1080300 02 010002080309 : ｮ08 04090300fl08 6 506fl04010002 06 040208 00040ｸ7020006060100 00000003 03060106080ｹ1 010301020601080ｹ1 fl04010803 0300 016ｧ900020608 0208 016ｧ900020608 020903 0006010000 03, 6ｧ9020406 0ｸ9040200 09 apple0608046ｧ96 76 7060409 020903 apple060808apple020601fi03 apple06086 50802fi03 0300 020900 04090000fi apple060808apple020601fi 00 00fl00 06 060100026ｧ8 0106066 5fi03. ｮ08 036ｧ9020608 020903 0102fl040903 00fl00 06 03006 7 020ｹ102000608 apple00 016ｧ8apple080608 01 020ｸ90ｷ30206, 0ｸ9040200 00 06040ｹ00ｹ10006 09 apple0608046ｧ96 76 7060409 020803 apple00 fl0803 016ｧ80900020903 01fl0009040903 apple00 0208 apple00 fl08 016ｧ80900020903 0608fi03. 00 I x 00fl00 06 0309 0309 00000601fi, 6ｧ9020406 0ｸ9040200 09 026 7006 5060601fi 020603fi 020803 apple00 fl0803 016ｧ80900020903 01fl0009040903 00 00fl00 06 0309 0309 00000601fi. ﾌ06 016ｧ80900 08000ｹ16 70803 04090300fl0ｸ700 apple0803 0601 0008apple0806080ｹ100 020603 apple 06 apple6ｧ8000ｸ7 apple06080ｸ8apple08096ｧ904000603, 09 0007fl040ｸ70409 (12) fl000006 020900 040ｹ06ｧ90409 030002 070ｹ1 020803 6 56ｧ809080303 020ｸ700. ｮ 04090300fl 03026ｧ8 02 0706000803080ｹ10002 06 01 026ｧ8 0ｹ107080304 040006066ｧ8 0ｸ703 apple060803 0208 6 56ｧ8090803. ｮ 040ｹ0fi03 02 5(a) 01 06 5(b) 00fl0ｹ000080300 0208 08000ｹ16 70803 020ｸ700 00060100000ｸ700 04020603 08apple08fl0003 080106036ｧ80402090100 09 036ｧ90908 0803 apple0803 apple0006066 7066ｧ80ｷ3090100. ｮ08 040ｹ0fi03 5(c) 00fl0ｹ0000006 0400 0308060ｷ3fi 0006010000 03 020900 06 02 01020601fi 00 apple 066ｧ80402 0409 020803 6 56ｧ809080303 apple0803 03apple0802086 7fl080002 06 apple00 020603 00060100000003 5(a) 01 06 5(b). 0406 apple000606080ｹ06ｧ903 0300 03 0ｹ10608 0ｹ0060ｸ903 000206040208060ｹ0080ｹ100 0400 04090300fl 0402 08apple08fl 0000 00fl00 06 0300 020003 08 03apple0802086 70604030003 06 02 01020601080ｹ1 6 56ｧ809080303. ﾌ06 02 03apple00020806apple 04090300fl 040208 00040ｸ7020006060100 020803 010301020601080ｹ1 fl04010803, 09 (14) 6 706 j = m fl000006 020900 040ｹ06ｧ90409 020903 apple000402 04fi03 02080303 apple00 0208 0108000206000002000608 04020800 apple 06 0209060902fi 04090300fl08, 0300 020900 036ｧ96 706040209 06 0ｷ308066ｧ8 apple0804026ｧ804000ｸ700 apple0803 03apple6ｧ8060ｹ00006 04020900 04010900fi. 03000206040208060ｹ00ｸ90002 03 040208 0108000206000002000608 04090300fl08 0208 6ｧ804apple0608 0ｹ0060ｸ903, 0806 0000 066ｧ80300040003 06 6 5 0903fl04000603 020803 6 70106fl080803 010ｸ7 060108apple0806080ｹ100 020603 apple0804026ｧ804000603 020ｸ700 03apple00020806apple0ｸ700 04090300fl0ｸ700 020903 04010900fi03. ﾌ06 00 06000301080203000900fl 09 01 02 0000090409 020803 040ｹ0fi03 020803 5(c), 0208 040ｹ0fi03 5(d) 00fl0ｹ0000006 020800 01030102060100 fl040108 040208 00040ｸ7020006060100 020803 08apple08fl0803 03apple0802086 7fl080002 06 0208 06 02 0102060100 6 56ｧ8090803. 04 060609030003 020ｸ700 pixels 0402 08apple08fl 00fl00 06 0300 020000 00 03apple0802086 706040200fl 06 02 0102060100 6 56ｧ8090803 00fl00 06 apple0006flapple0803 0208 25% 020803 04030000020803 020ｸ700 pixels apple0803 apple0006066ｧ90ｹ0080002 06 036ｧ904 04020800 01030102060100 fl040108. 8
13(a) (b) (c) (d) ｱ0ｹ0fi03 5: ﾇ00 00040206 04036ｧ90008 08000ｹ16 70803 01 06 0208 06 02 0102060100 6 56ｧ8090803 apple0803 03apple0802086 7fl080002 06 6 706' 030200. VIII. ﾖｨC ｭ0804 ﾌ04 ｰ 00 00066 7 04fl 0302fi apple 06080304fl 0400 0306 036ｧ90908 08 03apple0802086 7060403080ｹ1 020903 066ｧ802 070903 020ｸ700 04090300fl0ｸ700 0306 03 04010900fi03 0ｸ703 apple060803 0208 6 56ｧ8090803. 00 036ｧ90908 0803 6 5 04fl080002 06 04020900 0300060601fi 00applefl02030409 020803 apple06086 502fi03 020803 020903 000206040208fl0ｹ006040903, 0306 01 06 03apple0802086 7fl080006 020900 0306 apple00 020603 0ｹ108 0403000604020ｸ9040003 020903 030002 0200apple06040903 020ｸ700 04090300fl0ｸ700 (020900 016ｧ809000209 0608fi). ﾖapplefl040903, 0000 apple 060200fl 016ｧ8apple08060803 00fl 080303 060ｹ10903060409 (calibration) 020803 040200060008040108apple0601080ｹ1 04030402fi03 020803 02026ｧ8 6 5 04fl080002 06 0400 apple080608020601fi 6 7000ｸ90409 040ｹ0000206016ｧ8 0300 020900 6 7000ｸ703000206fl 020803. 04 03apple0802086 70604030003 020803 06 02 01020601080ｹ1 6 56ｧ809080303 apple0803 apple 06080304066ｧ80402090100 00fl00 06 0208apple06010003, 03apple00 020900 6ｧ900000806 000206 0ｷ308066ｧ8 0306 03060106fi apple000606080ｹ0fi 6 70ｹ1060ｸ7 apple00 016ｧ8apple080608 04090300fl08 000402fl 040903. ﾇ00 0000 06 0ｷ36ｧ9060800 apple06006 5020903 00apple08036ｧ9000ｸ703, 09 fi02 00 09 0300026ｧ90209 020600apple0ｸ700 040300 03 0403080ｹ1 apple0802020ｸ900 026ｧ90208060ｸ700 0208apple06010ｸ900 00 apple 06 04026ｧ804000ｸ700 apple0803 apple0608010ｹ1apple02080300 apple00 06 080ｹ006016ｧ903 000402066ｧ804000603, 0300 0402000ｹ008 016ｧ8apple0806 040300080206010002000609 00 apple 066ｧ80402 0409 020803 0ｹ00ｸ9060803. ﾇ00 0007fl040803 0000 06 0ｷ36ｧ9060800 apple06006 5020903 00fl00 06 09 00 08fi02090409 06 060802fi020ｸ700 020803 06 02 01020601080ｹ1 6 56ｧ809080303, 0806 08apple08fl0003 00fl00 06 0000076ｧ8060209020003 apple00 020900 040ｹ000020601fi 096ｧ90409 020803 apple 06 0209060902fi 01 06 020903 apple 06 020906080ｹ10300000903 04010900fi03. ｮ6ｧ90208060003 06 06000209020003 09 03apple0806080ｹ104 00 00 0ｹ0060904060308apple08060909080ｹ100 6 706 020900 0106066 56ｧ90402000609 apple0006066 706 0ｷ3fi apple0004000ｸ700 020803 apple0006066 56ｧ802020800020803 [23]. 01 ｭ0108 ｭ04 ﾌ ｪ03 ﾂ ｭ03 [1] D. Marr, Vision. San Francisco: W. H. Freeman, 1982. [2] S. Ullman, The interpretation of visual motion. Cambridge, MA: MIT Press, 1979. 9
13[3] V.S.Nalwa,A Guided tour of Computer Vision, ch. 8. Addison-Wesley, 1993. [4] Y. K. Hwang and N. Ahuja, ``Gross motion planning -- a survey,'' ACM Computing Surveys, vol. 24, pp. 221--291, Sept. 1992. [5] J.C.Latombe,Robot Motion Planning. Boston, MA: Kluver Academic Publishers, 1991. [6] E. Johnston, ``Systematic distortions of shape from stereopsis,'' Vision Research, vol. 31, pp. 1351- -1360, 1991. [7] H. Pick, A. Yonas, D. Gentile, P. Melendez, D. Wagner, and D. Wegesin, ``Perceptual aspects of navigation,'' in DARPA Image Understanding Workshop, pp. 481--483, 1993. [8] J. Todd and Reichel, ``Ordinal structure in the visual perception and cognition of smoothly curved surfaces,'' Psychology Review, vol. 96, pp. 643--657, 1989. [9] M. Lourakis, ``An alternative approach for studying space perception: Use of ordinal instead of metric depth,'' Master's thesis, University of Crete, Computer Science Department, 1995. [10] L. Huang and Y. Aloimonos, ``How normal flow constrains relative depth for an active observer,'' Image and Vision Computing, vol. 12, pp. 435--445, Sept. 1994. [11] Y. Aloimonos, ``Purposive and qualitative active vision,'' in DARPA Image Understanding Workshop, pp. 816--828, 1990. [12] R. Bajcsy, ``Active perception,'' Proceedings of the IEEE, vol. 76, pp. 996--1005, Aug. 1988. [13] J. Aloimonos, I. Weiss, and A. Bandopadhay, ``Active vision,'' International Journal of Computer Vision, vol. 2, pp. 333--356, 1988. [14] B. K. P. Horn, Robot Vision. Cambridge, MA: MIT Press, 1986. [15] A. Verri and T. Poggio, ``Motion field and optical flow: Qualitative properties,'' IEEE Trans. on Pat.Anal.andMach.Int., vol. PAMI-11, pp. 490--498, 1989. [16] R. Y. Tsai and T. S. Huang, ``Uniqueness and estimation of three-dimensional motion parameters of rigid objects with curved surfaces,'' IEEE Trans. on Pat. Anal. and Mach. Int., vol. PAMI-6, pp. 13--27, 1984. [17] M. E. Spetsakis and J. Aloimonos, ``Optimal motion estimation,'' in IEEE Workshop on visual motion, pp. 229--237, 1989. [18] C. Fermuller, Basic Visual Capabilities. PhD dissertation, Center for Automation Research, University of Maryland, 1993. [19] B. K. P. Horn and B. Schunck, ``Determining optical flow,'' Artificial Intelligence, vol. 17, pp. 185--203, 1981. [20] K. Pahlavan and J. O. Eklundh, ``A head-eye system -- analysis and design,'' CVGIP: Image Understanding, Special Issue on Purposive, Qualitative Active Vision, vol. 56, pp. 41--56, 1992. [21] J. V. der Speigel, G. Kreider, C. Claeys, I. Debusschere, G. Sandini, P. Dario, F. Fantini, P. Bellutti, and G. Soncini, ``A foveated retinal-line sensor using ccd technology,'' in Analog VLSI and Neural Network Implementations (C. Mead and M. Ismail, eds.), (Boston), DeKluwer Pubs, 1989. [22] J. Canny, ``A computational approach to edge detection,'' IEEE Trans. on Pat. Anal. and Mach. Int., vol. PAMI-8, pp. 679--697, 1986. [23] D. Forsyth, J. Mundy, A. Zisserman, C. Coelho, A. Heller, and C. Rothwell, ``Invariant descriptors for 3-D object recognition and pose,'' IEEE Trans. on Pat. Anal. and Mach. Int., vol. PAMI-13, pp. 971--991, Oct. 1991. 10