A theory of the motion fields of curves

Abstract

This article reports a study of the motion field generated by moving 3-D curves that are observed by a camera. We first discuss the relationship between optical flow and motion field and show that the assumptions made in the computation of the optical flow are a bit difficult to defend.

We then go ahead to study the motion field of a general curve. We first study the general case of a curve moving nonrigidly and introduce the notion of isometric motion. In order to do this, we introduce the notion of spatiotemporal surface and study its differential properties up to the second order. We show that, contrary to what is commonly believed, the full motion field of the curve (i.e., the component tangent to the curve) cannot be recovered from this surface. We also give the equations that characterize the spatio-temporal surface completely up to a rigid transformation. Those equations are the expressions of the first and second fundamental forms and the Gauss and Codazzi-Mainardi equations. We then relate those differential expressions computed on the spatio-temporal surface to quantities that can be computed from the images intensities. The actual values depend upon the choice of the edge detector.

We then show that the hypothesis of a rigid 3-D motion allows in general to recover the structure and the motion of the curve, in fact without explicitly computing the tangential motion field, at the cost of introducing the three-dimensional accelerations. We first study the motion field generated by the simplest kind of rigid 3-D curves, namely lines. This study is illuminating in that it paves the way for the study of general rigid curves and because of the useful results which are obtained. We then extend the results obtained in the case of lines to the case of general curves and show that at each point of the image curve two equations can be written relating the kinematic screw of the moving 3-D curve and its time derivative to quantities defined in the study of the general nonrigid motion that can be measured from the spatio-temporal surface and therefore from the image. This shows that the structure and the motion of the curve can be recovered from six image points only, without establishing any point correspondences.

Finally we study the cooperation between motion and stereo in the framework of this theory. The use of two cameras instead of one allows us to get rid of the three-dimensional accelerations and the relations between the two spatio-temporal surfaces of the same rigidly moving 3-D curve can be used to help disambiguate stereo correspondences.