3-D shape recognition by active vision-without camera velocity information

Proposes a new method of active vision which recognizes the 3-D shape of objects without knowing camera motion parameters. The motion parameters are calculated from the optical flows and the depth of object points whose 3-D shape is already known. Then, using these calculated motion parameters and the optical flows, the 3-D position of unknown points are reconstructed, which, in turn, will be used as the known points in the next frame of image. These processes are iterated for a sequence of images to recognize the 3-D scene. In this method, the effects of quantization errors are overcome by two approaches. The errors of camera motion parameters are compensated by using a large number of points to calculate them. Then, the Kalman filtering method is applied to the sequence of images to reduce the 3-D position errors of each unknown point