Measurement of 3D motion parameters from range images

Author

Arai, Tamio ; Umeda, Kazunori

Author_Institution

Dept. of Precision Machinery Eng., Tokyo Univ., Japan

fYear

1991

fDate

3-5 Nov 1991

Firstpage

383

Abstract

Detecting three dimensional motion is one of the most important issues on robot vision. In this paper, an essential equation, the motion-range equation, is introduced for detecting 3D motion from `range images´. The equation is represented in linear form against 3D motion parameters. Using the equation, the motion parameters are directly obtained without detecting the positions of an object. Statistical analysis is made and computational method is established by means of the equation. Analysis of the equation is performed. Experimental results on actual range images prove that the motion detection method described is simple and efficient

Keywords

pattern recognition; picture processing; statistical analysis; 3D motion detection; motion parameter measurement; motion-range equation; pattern recognition; range images; statistical analysis; Equations; Image sensors; Machinery; Motion detection; Motion measurement; Object detection; Performance analysis; Robot sensing systems; Robot vision systems; Statistical analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174480

Filename

174480