DocumentCode :
3318451
Title :
Provably convergent structure and motion estimation for perspective systems
Author :
Heyden, Anders ; Dahl, Ola
Author_Institution :
Centre for Math. Sci., Lund Univ., Lund, Sweden
fYear :
2009
fDate :
15-18 Dec. 2009
Firstpage :
4216
Lastpage :
4221
Abstract :
Estimation of structure and motion in computer vision systems can be performed using a dynamic systems approach, where states and parameters in a perspective system are observed. This paper presents a new approach to the structure estimation problem, where the estimation of the 3D-positions of feature points on a moving object is reformulated as a parameter estimation problem. For each feature point, a constant parameter is estimated, from which it is possible to calculate the time-varying 3D-position. The estimation method is extended to the estimation of motion, in the form of angular velocity estimation. The combined structure and angular velocity observer is shown stable using Lyapunov theory and persistency of excitation based arguments. The estimation method is illustrated with simulation examples, demonstrating the estimation convergence.
Keywords :
Lyapunov matrix equations; computer vision; estimation theory; motion estimation; Lyapunov theory; angular velocity estimation; computer vision; convergent structure; dynamic system; feature point; motion estimation; parameter estimation; perspective system; structure estimation problem; time-varying 3D-position; Analytical models; Angular velocity; Computational modeling; Computer vision; Convergence; Motion estimation; Parameter estimation; Performance analysis; Stability analysis; State estimation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
ISSN :
0191-2216
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
Type :
conf
DOI :
10.1109/CDC.2009.5400953
Filename :
5400953
Link To Document :
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