3次元対応に基づく物体の運動推定

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書誌事項

タイトル別名
  • Motion Estimation of Object based on Three-Dimensional Correspondence
  • 3ジゲン タイオウ ニ モトズク ブッタイ ノ ウンドウ スイテイ ステレオ
  • An Approach from a Sequence of Stereo Images
  • ステレオ動画像からのアブローチ

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抄録

This paper describes an approach for estimating motion parameters of a rigid body utilizing three-dimensional (3-D) correspondence. 3-D positional information of object feature points, which is available for object representation and robot vision, is extracted by stereo matching at each instant. The correspondence between two 3-D point sets at sequential time instances is needed to find motion parameters, the best one is established using Hopfield neural network. On the basis of acquired information, two methods for motion estimation are proposed (1) in an incremental manner under a condition for smoothness of motion, and (2) in an iterative operation according to a Daugman-type linear network architecture. The results of applying these schema to a sequence of stereo images are presented.

収録刊行物

  • 精密工学会誌

    精密工学会誌 59 (2), 222-226, 1993

    公益社団法人 精密工学会

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