Brief Introduction to DROID

The real time image processing system which provides the three dimensional scene information for ALTRUISM is ``live DROID'', developed at Roke Manor Research Limited and DRA Chertsey. DROID provides a list of three dimensional scene measurements, made at well localized places in the image, as the camera is moved through the environment. DROID also produces an estimate of the camera's own motion in the world, given only an initial space scaling factor (enabling the resolution of the scale/speed ambiguity). It works by tracking two dimensional features over time, using a Kalman filter for the three dimensional tracking of each point:

First all image corners are found.

Next these corners are tracked in 3D providing a sparse 3D data set. From this set a 3D surface can be created by triangulating between the tracked corners.

Finally, this 3D surface can be used in a variety of ways, for example, the creation of a contour map of the 3D world.

Papers published on DROID include [Harris 87], [Harris 88] and [Charnley89].

This page maintained by S. Smith.
Back to ALTRUISM 3D Interpretation.

First all image corners are found.
Next these corners are tracked in 3D providing a sparse 3D data set. From this set a 3D surface can be created by triangulating between the tracked corners.
Finally, this 3D surface can be used in a variety of ways, for example, the creation of a contour map of the 3D world.