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gengshan-y / expansion

Upgrading Optical Flow to 3D Scene Flow through Optical Expansion, CVPR 2020 (Oral).
https://gengshan-y.github.io/expansion/
MIT License
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Assumption of orientation is not always true #2

Closed ahangchen closed 4 years ago

ahangchen commented 4 years ago

In 3.1, there is an assumption that orientation is unchanged, but when camera's rotation is not identity, the orientation will change (for example, a car with camera turns around at road corner). Is there anything I misunderstand about orientation?

gengshan-y commented 4 years ago

You are right about the assumption. When the camera is rotating, optical expansion computed from optical flow fields is not equivalent to motion-in-depth.

However, the camera rotation is relatively easy to remove by rotational homograph (assuming you already have R from visual/inertial odometry methods)

ahangchen commented 4 years ago

Got it, thank's for your reply.