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The collection of image sequences for quantitative experiments in motion analysis is discussed. To assess the effectiveness of a motion algorithm it is necessary to obtain motion data with ground truth of known accuracy. The authors describe motion data collected using the imaging facilities provided by the autonomous land vehicle (ALV). A total of eight sequences of about 30 frames each were collected at five different outdoor sites using move-and-shoot and stop-and-shoot methods. For all the sequences accurate ground truth of environmental objects were determined using theodolites and a laser range finder. The camera egomotion parameters (this included both translation and rotation) were determined using a land navigation system on the ALV. Example images of the data set collected and an analysis of one of the sequences are presented. >

The mechanics of occlusion of one surface by another are described by a set of integer linear constraints. These constraints insure that the output of a contour grouping process is physically valid and consistent with the image evidence. Among the many feasible solutions, the most compelling is the solution which best explains the presence and form of image structure. The problem of computing a complete and consistent surface boundary representation is reduced to solving an integer linear program. >