DocumentCode :
2456969
Title :
Motion recovery for a class of movements under perspective observation
Author :
Chen, Xinkai ; Kano, Hiroyuki
Author_Institution :
Dept. of Electron. & Inf. Syst., Shibaura Inst. of Technol., Saitama, Japan
fYear :
2004
fDate :
2-4 Sept. 2004
Firstpage :
328
Lastpage :
333
Abstract :
The recovery of motion for a class of movements in the space by using the perspective observation of one point is considered In this work. The motion equation can cover a wide class of practical movements in the space. The estimations of the position and motion parameters which are all time-varying are simultaneously developed in the proposed algorithm. The formulated problem can be converted into the observation of a dynamical system with nonlinearities. The proposed observer is based on the second method of Lyapunov. First, the parameters relating to the rotation of the motion are identified, where only one camera is needed. Then the position of the moving object is identified, where the stereo vision is necessary. In the third step, the parameters relating to the straight movement are identified. The assumptions about the perspective system are reasonable, and the convergence conditions are intuitive and have apparently physical interpretations. The proposed method requires minor a priori knowledge about the system and can cope with a much more general class of perspective systems. Furthermore, the algorithm is modified to deal with the occlusion phenomenon.
Keywords :
Lyapunov methods; computer vision; motion estimation; nonlinear dynamical systems; observers; stereo image processing; time-varying systems; Lyapunov method; machine vision; motion equation; motion recovery; nonlinear dynamical system; perspective observation; stereo vision; time-varying system; Cameras; Charge coupled devices; Convergence; Layout; Linear systems; Machine vision; Motion estimation; Nonlinear equations; Observability; Stereo vision;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control, 2004. Proceedings of the 2004 IEEE International Symposium on
ISSN :
2158-9860
Print_ISBN :
0-7803-8635-3
Type :
conf
DOI :
10.1109/ISIC.2004.1387704
Filename :
1387704
Link To Document :
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