Abstract
We consider a problem of recovering motion of an 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, and the condition, established as a necessary and sufficient condition, turns out to be the controllability of a modified linear system. Such an analysis is essential when we develop and use any algorithms involving motion parameter identification. Finally, we include numerical results by employing the extended Kalman filter.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IASTED International Conference on Modelling, Identification and Control |
| Editors | M.H. Hamza |
| Pages | 103-108 |
| Number of pages | 6 |
| Volume | 23 |
| Publication status | Published - 2004 |
| Externally published | Yes |
| Event | Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control - Grindelwald, Switzerland Duration: 2004 Feb 23 → 2004 Feb 25 |
Other
| Other | Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control |
|---|---|
| Country | Switzerland |
| City | Grindelwald |
| Period | 04/2/23 → 04/2/25 |
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Keywords
- Controllability
- Machine vision
- Motion recovery
- Perspective stereo vision
ASJC Scopus subject areas
- Engineering(all)
Cite this
Motion recovery of moving objects under perspective stereo vision. / Kano, Hiroyuki; Fujioka, Hiroyuki; Chen, Xinkai; Sato, Takehito.
Proceedings of the IASTED International Conference on Modelling, Identification and Control. ed. / M.H. Hamza. Vol. 23 2004. p. 103-108 412-224.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Motion recovery of moving objects under perspective stereo vision
AU - Kano, Hiroyuki
AU - Fujioka, Hiroyuki
AU - Chen, Xinkai
AU - Sato, Takehito
PY - 2004
Y1 - 2004
N2 - We consider a problem of recovering motion of an 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, and the condition, established as a necessary and sufficient condition, turns out to be the controllability of a modified linear system. Such an analysis is essential when we develop and use any algorithms involving motion parameter identification. Finally, we include numerical results by employing the extended Kalman filter.
AB - We consider a problem of recovering motion of an 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, and the condition, established as a necessary and sufficient condition, turns out to be the controllability of a modified linear system. Such an analysis is essential when we develop and use any algorithms involving motion parameter identification. Finally, we include numerical results by employing the extended Kalman filter.
KW - Controllability
KW - Machine vision
KW - Motion recovery
KW - Perspective stereo vision
UR - http://www.scopus.com/inward/record.url?scp=11844255695&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=11844255695&partnerID=8YFLogxK
M3 - Conference contribution
VL - 23
SP - 103
EP - 108
BT - Proceedings of the IASTED International Conference on Modelling, Identification and Control
A2 - Hamza, M.H.
ER -