Motion recovery using dynamic vision
| Authors: | Chen Xinkai, Shibaura Institute of Technology, Japan
Kano Hiroyuki, Tokyo Denki University, Japan |
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| Topic: | 1.1 Modelling, Identification & Signal Processing |
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| Session: | State Estimation, Tracking and Sensor Fusion |
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| Keywords: | Motion recovery, perspective observation, dynamic vision, Lyapunov method, occlusion. |
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Abstract
The recovery of motion for a class of movements in the space by using the perspective observation of one point is considered in this paper. The motion equation can cover a wide class of practical movements in the space. The proposed observer is based on the second method of Lyapunov. First, the parameters relating to the rotation of the motion are identified, where only one camera is needed. Then the position of the moving object is identified, where the stereo vision is necessary. In the third step, the parameters relating to the straight movement are identified. Furthermore, the algorithm is modified to deal with the occlusion phenomenon.
