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Abstract:
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The determination of 3-D motion parameters of an object from its image-sequences is discussed for three types of motion analysis: (1) monocular vision, (2) stereo vision, and (3) stereo motion. These parameters of the object enable one to obtain its attitude, attitude rate, visible surface shape, identification/recognition, and track. Under suitable conditions, these parameters can be estimated from the 2-D image co-ordinates of a set of points on the object's surface in consecutive images, using the Image Point Correspondence (IPC) algorithm. In this research, a Generalized Image Point Correspondence (GIPC) algorithm has been developed to enable the computation of motion parameters for a general configuration where both the object and the camera are moving. A detailed error analysis of these algorithms has been carried out. Furthermore, this algorithm was tested on both simulated and video-acquired data, and its accuracy determined. |
