Identifiability of motion parameters under perspective stereo vision

Hiroyuki Kano, Hiroyuki Fujioka, Xinkai Chen

研究成果: Conference article査読

2 被引用数 (Scopus)

抄録

We consider a problem of recovering motion of 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. It is shown that the parameters are identifiable genetically. Moreover, the only cases where the parameters can not be determined uniquely imply very much restrictive motions, confined either in certain planes or lines, in which case any identification algorithms will fail. Moreover whenever the parameters can be determined uniquely, the parameters can be recovered from stereo image data over any time interval of arbitrary length. The problem is also analyzed in discrete-time settings, which can be used for the case of continuous-time motion with discrete-time observations.

本文言語English
論文番号ThB12.3
ページ(範囲)3605-3610
ページ数6
ジャーナルProceedings of the IEEE Conference on Decision and Control
4
DOI
出版ステータスPublished - 2004 1 1
イベント2004 43rd IEEE Conference on Decision and Control (CDC) - Nassau, Bahamas
継続期間: 2004 12 142004 12 17

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 制御と最適化

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