NDLI: Dynamic rigid motion estimation from weak perspective

Content Provider	IEEE Xplore Digital Library
Author	Soatto, S. Perona, P.
Copyright Year	1995
Description	Author affiliation: Control of Dynamic Syst., California Inst. of Technol., Pasadena, CA, USA (Soatto, S.)
Abstract	"Weak perspective" represents a simplified projection model that approximates the imaging process when the scene is viewed under a small viewing angle and its depth relief is small relative to its distance from the viewer. We study how to generate dynamic models for estimating rigid 3D motion from weak perspective. A crucial feature in dynamic visual motion estimation is to decouple structure from motion in the estimation model. The reasons are both geometric-to achieve global observability of the model-and practical, for a structure independent motion estimator allows us to deal with occlusions and appearance of new features in a principled way. It is also possible to push the decoupling even further, and isolate the motion parameters that are affected by the so called "bas relief ambiguity" from the ones that are not. We present a novel method for reducing the order of the estimator by decoupling portions of the state space from the time evolution of the measurement constraint. We use this method to construct an estimator of full rigid motion (modulo a scaling factor) on a six dimensional state space, an approximate estimator for a four dimensional subset of the motion space, and a reduced filter with only two states. The latter two are immune to the bas relief ambiguity. We compare strengths and weaknesses of each of the schemes on real and synthetic image sequences.<>
Starting Page	321
Ending Page	328
File Size	800015
Page Count	8
File Format	PDF
ISBN	0818670428
DOI	10.1109/ICCV.1995.466922
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-06-20
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion estimation Layout State estimation Recursive estimation Control system synthesis Observability Solid modeling Image sequences Motion analysis Testing
Content Type	Text
Resource Type	Article

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