Vehicle-type motion estimation from multi-frame images
Liu, Y.
Huang, T.S.
Coordinated Sci. Lab., Illinois Univ., Urbana, IL ;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Aug 1993
Volume: 15,
Issue: 8
On page(s): 802-808
ISSN: 0162-8828
References Cited: 14
CODEN: ITPIDJ
INSPEC Accession Number: 4500755
Digital Object Identifier: 10.1109/34.236249
Current Version Published: 2002-08-06
Abstract
A model for vehicle-type motion, which assumes that the motion is
a rotation around an axis through the vehicle center followed by a
forward translation along the main axis of the vehicle, is proposed.
When the rotation and the amplitude of translation are constant, this
type of motion is shown to be equivalent to a constant camera-centered
motion. This indicates that a constant motion in the conventional
camera-centered model, which is commonly considered to be artificial,
can in fact be a reasonable model in real life. It is shown that a
constant vehicle-type motion can be interpreted as a constant screw
motion. A linear algorithm for estimating constant vehicle-type motion
is presented, and experiments using real scene images are included. As
an extension, vehicle-type motion with constant rotation and constantly
accelerated translation is discussed
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