An Integration Algorithm for Stereo, Motion and Color in Real-Time Applications

what: color, motlon what, where? where: depth and reglon This paper describes a statistical integration algorithm for color, motion and stereo disparity, and introduces a realtime stereo system that can tell us where and what objects are moving. Regarding the integration algorithm, motion estimation and depth estimation are simultaneously performed by a clustering process based on motion, stereo disparity, color, and pixel position. As a result of the clustering, an image is decomposed into region fragrete ments. Each fragment is characterized by distribution PIa parameters of spatiotemporal intensity gradients, stereo difference, color and pixel positions. Motion vectors and stereo disparities for each fragment are obtained from those distribution parameters. The real-time stereo system can view the objects with the distribution parameters over frames. The implementation shows that we can utilize the proposed algorithm in real-time applications such Figure 1: Stereo system. as surveillance and human computer interaction.