TY - GEN
T1 - Stereo vision based motion identification
AU - Chen, Xinkai
PY - 2007
Y1 - 2007
N2 - The motion identification for a class of movements in the space by using stereo vision is considered by observing at least three points in this paper. The considered motion equation can cover a wide class of practical movements in the space. The observability of this class of movement is clarified. The estimations of the motion parameters which are all time-varying are developed in the proposed algorithm based on the second method of Lyapunov. The assumptions about the perspective system are reasonable, and the convergence conditions are intuitive and have apparently physical interpretations. The proposed recursive algorithm requires minor a priori knowledge about the system and can alleviate the noises in the image data. Furthermore, the proposed algorithm is modified to deal with the occlusion phenomenon. Simulation results show the proposed algorithm is effective even in the presence of measurement noises.
AB - The motion identification for a class of movements in the space by using stereo vision is considered by observing at least three points in this paper. The considered motion equation can cover a wide class of practical movements in the space. The observability of this class of movement is clarified. The estimations of the motion parameters which are all time-varying are developed in the proposed algorithm based on the second method of Lyapunov. The assumptions about the perspective system are reasonable, and the convergence conditions are intuitive and have apparently physical interpretations. The proposed recursive algorithm requires minor a priori knowledge about the system and can alleviate the noises in the image data. Furthermore, the proposed algorithm is modified to deal with the occlusion phenomenon. Simulation results show the proposed algorithm is effective even in the presence of measurement noises.
KW - Dynamic vision
KW - Motion identification
KW - Occlusion
KW - Stereo vision
UR - http://www.scopus.com/inward/record.url?scp=38049076543&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=38049076543&partnerID=8YFLogxK
U2 - 10.1007/978-3-540-74171-8_57
DO - 10.1007/978-3-540-74171-8_57
M3 - Conference contribution
AN - SCOPUS:38049076543
SN - 9783540741701
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 575
EP - 586
BT - Advanced Intelligent Computing Theories and Applications
PB - Springer Verlag
T2 - 3rd International Conference on Intelligent Computing, ICIC 2007
Y2 - 21 August 2007 through 24 August 2007
ER -