Stereo vision based motion parameter estimation

Authors:
Xinkai Chen
Affiliations:
Department of Electronic and Information Systems, Shibaura Institute of Technology, Saitama-shi, Saitama, Japan
Venue:
ICIC'09 Proceedings of the Intelligent computing 5th international conference on Emerging intelligent computing technology and applications
Year:
2009

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Abstract

The motion parameter estimation for a class of movements in the space by using stereo vision is considered by observing a group of points. The considered motion equation can cover a wide class of practical movements in the space. The observability of this class of movement is clarified. The estimation algorithm for the motion parameters which are all time-varying is developed based on the second method of Lyapunov. The assumptions about the perspective system are reasonable and have apparently physical interpretations. The proposed recursive algorithm requires minor a priori knowledge about the system. Experimental results show the proposed algorithm is effective even in the presence of measurement noises.