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.
|ジャーナル||Proceedings of the IASTED International Conference on Modelling, Identification and Control|
|出版物ステータス||Published - 2004 12 1|
|イベント||Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control - Grindelwald, Switzerland|
継続期間: 2004 2 23 → 2004 2 25
ASJC Scopus subject areas
- Modelling and Simulation
- Computer Science Applications