Perspective observation based motion recovery

Xinkai Chen, Hiroyuki Kano, Rixat Abdursul

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 publicationProceedings - 2004 International Conference on Intelligent Mechatronics and Automation
Pages29-34
Number of pages6
Publication statusPublished - 2004
EventProceedings - 2004 International Conference on Intelligent Mechatronics and Automation - Chengdu
Duration: 2004 Aug 262004 Aug 31

Other

OtherProceedings - 2004 International Conference on Intelligent Mechatronics and Automation
CityChengdu
Period04/8/2604/8/31

Fingerprint

Recovery
Stereo vision
Equations of motion
Dynamical systems
Cameras

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Chen, X., Kano, H., & Abdursul, R. (2004). Perspective observation based motion recovery. In Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation (pp. 29-34)

Perspective observation based motion recovery. / Chen, Xinkai; Kano, Hiroyuki; Abdursul, Rixat.

Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation. 2004. p. 29-34.

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

Chen, X, Kano, H & Abdursul, R 2004, Perspective observation based motion recovery. in Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation. pp. 29-34, Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation, Chengdu, 04/8/26.
Chen X, Kano H, Abdursul R. Perspective observation based motion recovery. In Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation. 2004. p. 29-34
Chen, Xinkai ; Kano, Hiroyuki ; Abdursul, Rixat. / Perspective observation based motion recovery. Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation. 2004. pp. 29-34
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