TY - GEN

T1 - Motion recovery for movements under perspective observation

AU - Chen, Xinkai

AU - Kano, Hiroyuki

PY - 2003/12/1

Y1 - 2003/12/1

N2 - 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.

AB - 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.

KW - Machine vision

KW - Motion recovery

KW - Nonlinear system

KW - Occlusion

KW - Perspective observation

UR - http://www.scopus.com/inward/record.url?scp=1542643444&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=1542643444&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:1542643444

SN - 0889863555

T3 - Proceedings of the IASTED International Conference on Intelligent Systems and Control

SP - 418

EP - 423

BT - Proceedings of the IASTED International Conference on Intelligent Systems and Control

A2 - Hamza, M.H.

A2 - Hamza, M.H.

T2 - Proceedings of the IASTED International Conference on Intelligent Systems and Control

Y2 - 25 June 2003 through 27 June 2003

ER -