Estimating the kinematics and structure of a rigid object from asequence of monocular images
Broida, T.J.
Chellappa, R.
Hughes Aircraft Co., Los Angeles, CA;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Jun 1991
Volume: 13,
Issue: 6
On page(s): 497-513
ISSN: 0162-8828
References Cited: 39
CODEN: ITPIDJ
INSPEC Accession Number: 3991724
Digital Object Identifier: 10.1109/34.87338
Current Version Published: 2002-08-06
Abstract
The problem considered involves the use of a sequence of noisy
monocular images of a three-dimensional moving object to estimate both
its structure and kinematics. The object is assumed to be rigid, and its
motion is assumed to be smooth. A set of object match points is assumed
to be available, consisting of fixed features on the object, the image
plane coordinates of which have been extracted from successive images in
the sequence. Structure is defined as the 3-D positions of these object
feature points, relative to each other. Rotational motion occurs about
the origin of an object-centered coordinate system, while translational
motion is that of the origin of this coordinate system. In this work,
which is a continuation of the research done by the authors and reported
previously (ibid., vol.PAMI-8, p.90-9, Jan. 1986), results of an
experiment with real imagery are presented, involving estimation of 28
unknown translational, rotational, and structural parameters, based on
12 images with seven feature points
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