6 Degree-of-Freedom Motion Estimation of a Moving Target using Monocular Image Sequences

Author

Jeong-Hoon Kwon ; Eun-Han Song ; In-Joong Ha

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Seoul Nat. Univ., Seoul, South Korea

Volume

49

Issue

4

fYear

2013

fDate

Oct-13

Firstpage

2818

Lastpage

2827

Abstract

A novel estimation method for the 6 degree-of-freedom (6-DOF) motion of a target moving with slowly varying velocity is proposed, which is based on the monocular image sequences from a moving camera. The homography matrix for moving targets is derived. It is shown that the dynamic model of the target in 6-DOF motion can be described as a linear time-varying system. Consequently, the Kalman filter can be directly applied. Our estimation method does not need a priori information of target depth or size. The observability condition of our estimator is much milder than that of the previously known bearings-only tracking methods.

Keywords

Kalman filters; image sequences; motion estimation; 6-DOF motion estimation method; 6-degree-of-freedom motion estimation; Kalman filter; bearing-only tracking method; homography matrix; linear time-varying system; monocular image sequences; moving camera; moving target; observability condition; target depth; target dynamic model; target size; Cameras; Estimation; Mathematical model; Motion estimation; Observability; Target tracking; Vectors;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/TAES.2013.6621857

Filename

6621857