Recursive motion recovery based on dynamic vision

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


The motion recovery for a class of movements in the space by using stereo vision is considered by observing at least three points in this paper. The considered motion equation can cover a wide class of practical movements in the space. The observability of this class of movement is clarified. The estimations of the motion parameters which are all time-varying are developed in the proposed algorithm based on the second method of Lyapunov. The assumptions about the perspective system are reasonable, and the convergence conditions are intuitive and have apparently physical interpretations. The proposed recursive algorithm requires minor a priori knowledge about the system and can alleviate the noises in the image data. Furthermore, the proposed algorithm is modified to deal with the occlusion phenomenon. Simulation results show the proposed algorithm is effective even in the presence of measurement noises.

Original languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
Publication statusPublished - 2008 Dec 1
Externally publishedYes
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 2008 Jul 62008 Jul 11

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
ISSN (Print)1474-6670


Conference17th World Congress, International Federation of Automatic Control, IFAC
Country/TerritoryKorea, Republic of


  • Continuous time system estimation
  • Nonlinear system identification

ASJC Scopus subject areas

  • Control and Systems Engineering


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