A New Technique for the Extraction and Tracking of Surfaces in Range Image Sequences
Revised Papers from the International Workshop on Sensor Based Intelligent Robots
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An algorithm for computing three-dimensional (3-D) velocity field and motion parameters from a range image sequence is presented. It is based on a new integral 3-D rigid motion invariant feature-the trace of a 3×3 “feature matrix” related to the moment of inertia tensor. This trace can be computed at every point of a moving surface and provides a quantitative measure of the local shape of the surface. Based on the feature's conservation along the trajectory of every moving point, a 3-D Flow Constraint Equation is formulated and solved for the velocity field. The robustness of the feature in presence of noise and discontinuity is analyzed