Identifiability of motion parameters under perspective stereo vision

Hiroyuki Kano, Hiroyuki Fujioka, Xinkai Chen

Research output: Contribution to journalConference article

2 Citations (Scopus)

Abstract

We consider a problem of recovering motion of object moving in space under perspective observation. It is assumed that the motion equation is described by a linear system with unknown constant motion parameters and that a single feature point on the object is perspectively observed by two cameras. Then we analyze the identifiability of motion parameters from the stereo image data observed over an interval of time. The identifiability problem is solved by employing theories on linear dynamical systems. It is shown that the parameters are identifiable genetically. Moreover, the only cases where the parameters can not be determined uniquely imply very much restrictive motions, confined either in certain planes or lines, in which case any identification algorithms will fail. Moreover whenever the parameters can be determined uniquely, the parameters can be recovered from stereo image data over any time interval of arbitrary length. The problem is also analyzed in discrete-time settings, which can be used for the case of continuous-time motion with discrete-time observations.

Original languageEnglish
Pages (from-to)3605-3610
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume4
Publication statusPublished - 2004 Dec 1
Event2004 43rd IEEE Conference on Decision and Control (CDC) - Nassau, Bahamas
Duration: 2004 Dec 142004 Dec 17

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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