Title :
Motion and shape identification with vision and range
Author :
Takahashi, Satoru ; Ghosh, Bijoy K.
Author_Institution :
Dept. of Inf. Sci., Tokyo Denki Univ., Saitama, Japan
fDate :
8/1/2002 12:00:00 AM
Abstract :
In this paper, we consider the problem of motion and shape estimation using a camera and a laser range finder. The object considered is a plane which is undergoing a Riccati motion. The camera observes features on the moving plane perspectively. The range-finder camera is capable of obtaining the range of the plane along a given "laser plane", which can either be kept fixed or can be altered in time. Finally, we assume that the identification is carried out as soon as the visual and range data is available, or after a suitable temporal integration. In each of these various cases, we derive to what extent the motion and shape parameters are identifiable and characterize the results as an orbit of a suitable group. The paper does not emphasize any specific choice of algorithm.
Keywords :
Riccati equations; cameras; computer vision; laser ranging; motion estimation; parameter estimation; shape measurement; Riccati motion; affine motion; group orbit; laser plane; laser range finder; machine vision; motion parameter estimation; motion parameter identification; moving plane object; perspective dynamical system; perspective observation; range data; range-finder camera; rigid motion; shape estimation; shape identification; temporal integration; visual data; Cameras; Charge coupled devices; Charge-coupled image sensors; Machine vision; Mobile robots; Motion estimation; Parameter estimation; Riccati equations; Sensor phenomena and characterization; Shape;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2002.801196
