Motion estimation of a block-shaped rigid object for robot vision

Proposes a new conventional method to reconstruct 3D motion of rigid polyhedral objects from a sequence of monocular images. In general the problem is ill-posed, therefore additional information is required to recover depth. The authors utilize line correspondence between sequential images and existence of parallel line segments in the scene. The relation between the coordinates of points can be described only by a rotation matrix, if it is formulated relatively. Then if there exists a pair of parallel line segments, the matrix can be solved by using linear equations. After that the translation vector is computed. It is necessary that there exists at least one pair of parallel line segments in the scene in order to obtain motion parameters. They also propose the method to extract pairs of parallel line segments in the image. Finally some experimental results for simulated data are demonstrated