Recursive Estimation of Motion and Planer Structure

Abstract

A specialized formulation of Azarbayejani and Pentland's framework for recursive recovery of motion, structure and focal length from feature correspondences tracked through an image sequence is presented. The specialized formulation addresses the case where all tracked points lie on a plane. This planarity constraint reduces the dimension of the original state vector, and consequently the number of feature points needed to estimate the state. Experiments with synthetic data and real imagery illustrate the system performance. The experiments confirm that the specialized formulation provides improved accuracy, stability to observation noise, and rate of convergence in estimation for the case where the tracked points lie on a plane.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2000
Accession Number
ADA451473

Entities

People

  • Jonathan Alon
  • Stan Sclaroff

Organizations

  • Boston University

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Computational Complexity
  • Computer Science
  • Computer Vision
  • Computers
  • Convergence
  • Coordinate Systems
  • Equations
  • Errors
  • Estimators
  • Kalman Filters
  • Measurement
  • Pattern Recognition
  • Planar Structures
  • Statistics
  • Three Dimensional
  • Two Dimensional

Readers

  • Computational Modeling and Simulation
  • Computer Vision.
  • Control Systems Engineering.