Estimating 3D Positions and Velocities of Projectiles from Monocular Views

Authors:
Evan Ribnick;Stefan Atev;Nikolaos P. Papanikolopoulos
Affiliations:
University of Minnesota, Minneapolis;University of Minnesota, Minneapolis;University of Minnesota, Minneapolis
Venue:
IEEE Transactions on Pattern Analysis and Machine Intelligence
Year:
2009

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Abstract

In this paper, we consider the problem of localizing a projectile in 3D based on its apparent motion in a stationary monocular view. A thorough theoretical analysis is developed, from which we establish the minimum conditions for the existence of a unique solution. The theoretical results obtained have important implications for applications involving projectile motion. A robust, nonlinear optimization-based formulation is proposed, and the use of a local optimization method is justified by detailed examination of the local convexity structure of the cost function. The potential of this approach is validated by experimental results.