A Novel Algorithm for Estimating the Center of Rotation and Motion Parameters Using Stereo Sequence Images and the Virtual Simulation Validation Based on Three-COMERO

This paper proposes a kind of general motion model and deterministic algorithm to compute the objects' centers of rotation and 3D motion parameters based on stereo sequences images and validates the algorithm through virtual simulation based on three-COMERO. It is assumed that the establishing correspondence between the matching points has been accomplished. For arbitrary two motion objects, firstly we set up three virtual space reference frames respectively on the two motion objects and the left camera, and their space relation is described according to the coordinates of the correspondence points that lie on the two measured motion objects. Then, we design the two objects' 3D motion model through the rigid motion objects' character under the three reference frames. From the two objects' motion model and dynamics knowledge of rigid motion, we work out the motion algorithm to compute the center of rotation through eliminate the affection of relative motion and translation motion. Finally, the motion equations are educed from these motion models and the closed-form solutions are figured out. Virtual simulation experiments through three-COMERO are conducted using synthesized stereo sequence images corrupted by noise and the experiment results prove the model's correction and the algorithm's validity