Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published December 1994 | Accepted Version + Published
Book Section - Chapter Open

Observability/Identifiability of Rigid Motion under Perspective Projection

Abstract

The "visual motion estimation" problem concerns the reconstruction of the motion of an object viewed under projection. This paper addresses the feasibility of such a problem when the object is represented as a "rigid" set of point-features in the Euclidean 3D space. We represent rigid motion as a point on the so-called "essential manifold" and show that it is globally observable from perspective projections under some general position conditions. Such conditions hold when the path of the viewer and the visible objects cannot be embedded in a quadric surface of R^3.

Additional Information

© 1994 IEEE. The author wishes to thank Prof. Pietro Perona for his advice, directions, interaction and support. Prof. Ruggero Freva and Prof. Giorgio Picci were very helpful with discussions and suggestions. The discussions with Prof. Richard Murray, Michiel van Nieuwstadt and Andrea Mennucci were crucial in understanding the geometric structure of the problem. This research has been funded by the California Institute of Technology, a fellowship from the "Fondazione Ing. Aldo Gini". a fellowship from the University of Padova-Italy, ONR grant N00014-93-1-0990, an AT&T Foundation Special Purpose grant. A long version of this paper has been submitted to the IFAC journal "Automatica".

Attached Files

Published - 00411638.pdf

Accepted Version - soatto_obsCDC94.pdf

Files

soatto_obsCDC94.pdf
Files (1.3 MB)
Name Size Download all
md5:cbe39a1d2aefa597dc539c5dca1c9153
702.9 kB Preview Download
md5:f2b14fab903a09a44abc00b482b0b06a
608.9 kB Preview Download

Additional details

Created:
August 20, 2023
Modified:
October 23, 2023