Experimental Studies on Stereo Vision Based Motion Recovery with Occlusions

The problem of motion recovery in the theory of machine vision is considered under perspective stereo vision. The object moving in space may be occluded from the cameras for some observation time intervals. First it is shown that the so-called motion parameters are identifiable generically in a normal stereo settings, where the object is visible from the two cameras simultaneously at least in a nonzero time interval. Then by developing an experimental stereo vision system and using extended Kalman filter for identification, we examined the validity experimentally.