Motion recovery for 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, where the motion parameters are all time-varying, is considered in this paper. The motion equation can cover a wide class of practical movements in the space. The estimation of the position and the motion parameter 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. Finally, 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. Further, the occurrence of occlusion is considered in the recovery algorithm.

Original languageEnglish
Title of host publicationProceedings of the IASTED International Conference on Intelligent Systems and Control
EditorsM.H. Hamza, M.H. Hamza
Pages418-423
Number of pages6
Publication statusPublished - 2003 Dec 1
EventProceedings of the IASTED International Conference on Intelligent Systems and Control - Salzburg, Austria
Duration: 2003 Jun 252003 Jun 27

Publication series

NameProceedings of the IASTED International Conference on Intelligent Systems and Control

Conference

ConferenceProceedings of the IASTED International Conference on Intelligent Systems and Control
CountryAustria
CitySalzburg
Period03/6/2503/6/27

Keywords

  • Machine vision
  • Motion recovery
  • Nonlinear system
  • Occlusion
  • Perspective observation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Theoretical Computer Science
  • Modelling and Simulation
  • Artificial Intelligence

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  • Cite this

    Chen, X., & Kano, H. (2003). Motion recovery for movements under perspective observation. In M. H. Hamza, & M. H. Hamza (Eds.), Proceedings of the IASTED International Conference on Intelligent Systems and Control (pp. 418-423). (Proceedings of the IASTED International Conference on Intelligent Systems and Control).