Motion and shape identification with vision and range

In this paper, we consider the problem of motion and shape estimation using a camera and a laser range finder. The object considered is a plane which is undergoing a Riccati motion. The camera observes features on the moving plane perspectively. The range-finder camera is capable of obtaining the range of the plane along a given "laser plane", which can either be kept fixed or can be altered in time. Finally, we assume that the identification is carried out as soon as the visual and range data is available, or after a suitable temporal integration. In each of these various cases, we derive to what extent the motion and shape parameters are identifiable and characterize the results as an orbit of a suitable group. The paper does not emphasize any specific choice of algorithm.