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

UR - http://www.scopus.com/inward/record.url?scp=11844255695&partnerID=8YFLogxK

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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 -