TY - JOUR
T1 - Motion recovery of moving objects under perspective stereo vision
AU - Kano, Hiroyuki
AU - Fujioka, Hiroyuki
AU - Chen, Xinkai
AU - Sato, Takehito
PY - 2004/12/1
Y1 - 2004/12/1
N2 - We consider a problem of recovering motion of an 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, and the condition, established as a necessary and sufficient condition, turns out to be the controllability of a modified linear system. Such an analysis is essential when we develop and use any algorithms involving motion parameter identification. Finally, we include numerical results by employing the extended Kalman filter.
AB - We consider a problem of recovering motion of an 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, and the condition, established as a necessary and sufficient condition, turns out to be the controllability of a modified linear system. Such an analysis is essential when we develop and use any algorithms involving motion parameter identification. Finally, we include numerical results by employing the extended Kalman filter.
KW - Controllability
KW - Machine vision
KW - Motion recovery
KW - Perspective stereo vision
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M3 - Conference article
AN - SCOPUS:11844255695
VL - 23
SP - 103
EP - 108
JO - Proceedings of the IASTED International Conference on Intelligent Systems and Control
JF - Proceedings of the IASTED International Conference on Intelligent Systems and Control
SN - 1025-8973
M1 - 412-224
T2 - Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control
Y2 - 23 February 2004 through 25 February 2004
ER -