Motion recovery for a class of movements under perspective observation

Xinkai Chen, Hiroyuki Kano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The recovery of motion for a class of movements in the space by using the perspective observation of one point is considered in this paper. The motion equation can cover a wide class of practical movements in the space. The estimations of the position and motion parameters which are all time-varying are simultaneously developed in the proposed algorithm. The formulated problem can be converted into the observation of a dynamical system with nonlinearities. The proposed observer is based on the second method of Lyapunov. First, the parameters relating to the rotation of the motion are identified, where only one camera is needed. Then the position of the moving object is identified, where the stereo vision is necessary. In the third step, the parameters relating to the straight movement are identified. The assumptions about the perspective system are reasonable, and the convergence conditions are intuitive and have apparently physical interpretations. The proposed method requires minor a priori knowledge about the system and can cope with a much more general class of perspective systems. Furthermore, the algorithm is modified to deal with the occlusion phenomenon.

Original languageEnglish
Title of host publicationIEEE International Symposium on Intelligent Control - Proceedings
Pages328-333
Number of pages6
Publication statusPublished - 2004
EventProceedings of the 2004 IEEE International Symposium on Intelligent Control - 2004 ISIC - Taipei
Duration: 2004 Sep 22004 Sep 4

Other

OtherProceedings of the 2004 IEEE International Symposium on Intelligent Control - 2004 ISIC
CityTaipei
Period04/9/204/9/4

Fingerprint

Recovery
Stereo vision
Equations of motion
Dynamical systems
Cameras

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

Cite this

Chen, X., & Kano, H. (2004). Motion recovery for a class of movements under perspective observation. In IEEE International Symposium on Intelligent Control - Proceedings (pp. 328-333)

Motion recovery for a class of movements under perspective observation. / Chen, Xinkai; Kano, Hiroyuki.

IEEE International Symposium on Intelligent Control - Proceedings. 2004. p. 328-333.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Chen, X & Kano, H 2004, Motion recovery for a class of movements under perspective observation. in IEEE International Symposium on Intelligent Control - Proceedings. pp. 328-333, Proceedings of the 2004 IEEE International Symposium on Intelligent Control - 2004 ISIC, Taipei, 04/9/2.
Chen X, Kano H. Motion recovery for a class of movements under perspective observation. In IEEE International Symposium on Intelligent Control - Proceedings. 2004. p. 328-333
Chen, Xinkai ; Kano, Hiroyuki. / Motion recovery for a class of movements under perspective observation. IEEE International Symposium on Intelligent Control - Proceedings. 2004. pp. 328-333
@inproceedings{851954e1fa77423fb4f23b769d172611,
title = "Motion recovery for a class of movements under perspective observation",
abstract = "The recovery of motion for a class of movements in the space by using the perspective observation of one point is considered in this paper. The motion equation can cover a wide class of practical movements in the space. The estimations of the position and motion parameters which are all time-varying are simultaneously developed in the proposed algorithm. The formulated problem can be converted into the observation of a dynamical system with nonlinearities. The proposed observer is based on the second method of Lyapunov. First, the parameters relating to the rotation of the motion are identified, where only one camera is needed. Then the position of the moving object is identified, where the stereo vision is necessary. In the third step, the parameters relating to the straight movement are identified. The assumptions about the perspective system are reasonable, and the convergence conditions are intuitive and have apparently physical interpretations. The proposed method requires minor a priori knowledge about the system and can cope with a much more general class of perspective systems. Furthermore, the algorithm is modified to deal with the occlusion phenomenon.",
author = "Xinkai Chen and Hiroyuki Kano",
year = "2004",
language = "English",
pages = "328--333",
booktitle = "IEEE International Symposium on Intelligent Control - Proceedings",

}

TY - GEN

T1 - Motion recovery for a class of movements under perspective observation

AU - Chen, Xinkai

AU - Kano, Hiroyuki

PY - 2004

Y1 - 2004

N2 - The recovery of motion for a class of movements in the space by using the perspective observation of one point is considered in this paper. The motion equation can cover a wide class of practical movements in the space. The estimations of the position and motion parameters which are all time-varying are simultaneously developed in the proposed algorithm. The formulated problem can be converted into the observation of a dynamical system with nonlinearities. The proposed observer is based on the second method of Lyapunov. First, the parameters relating to the rotation of the motion are identified, where only one camera is needed. Then the position of the moving object is identified, where the stereo vision is necessary. In the third step, the parameters relating to the straight movement are identified. The assumptions about the perspective system are reasonable, and the convergence conditions are intuitive and have apparently physical interpretations. The proposed method requires minor a priori knowledge about the system and can cope with a much more general class of perspective systems. Furthermore, the algorithm is modified to deal with the occlusion phenomenon.

AB - The recovery of motion for a class of movements in the space by using the perspective observation of one point is considered in this paper. The motion equation can cover a wide class of practical movements in the space. The estimations of the position and motion parameters which are all time-varying are simultaneously developed in the proposed algorithm. The formulated problem can be converted into the observation of a dynamical system with nonlinearities. The proposed observer is based on the second method of Lyapunov. First, the parameters relating to the rotation of the motion are identified, where only one camera is needed. Then the position of the moving object is identified, where the stereo vision is necessary. In the third step, the parameters relating to the straight movement are identified. The assumptions about the perspective system are reasonable, and the convergence conditions are intuitive and have apparently physical interpretations. The proposed method requires minor a priori knowledge about the system and can cope with a much more general class of perspective systems. Furthermore, the algorithm is modified to deal with the occlusion phenomenon.

UR - http://www.scopus.com/inward/record.url?scp=20344405191&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=20344405191&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:20344405191

SP - 328

EP - 333

BT - IEEE International Symposium on Intelligent Control - Proceedings

ER -