Motion recovery for movements under perspective observation

Xinkai Chen, Hiroyuki Kano

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the IASTED International Conference on Intelligent Systems and Control
編集者M.H. Hamza, M.H. Hamza
ページ418-423
ページ数6
出版ステータスPublished - 2003 12月 1
外部発表はい
イベントProceedings of the IASTED International Conference on Intelligent Systems and Control - Salzburg, Austria
継続期間: 2003 6月 252003 6月 27

出版物シリーズ

名前Proceedings of the IASTED International Conference on Intelligent Systems and Control

Conference

ConferenceProceedings of the IASTED International Conference on Intelligent Systems and Control
国/地域Austria
CitySalzburg
Period03/6/2503/6/27

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 理論的コンピュータサイエンス
  • モデリングとシミュレーション
  • 人工知能

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