RECURSIVE ESTIMATION OF MOTION AND SHAPEPARAMETERS UNDER PERSPECTIVE PROJECTION

摘要

The problem of estimating motion and shape of a moving rigid object has been considered from atime series of image data obtained via perspective projection. First it is shown that, for a class ofmotion parameters, the shape parameters are asymptotically decoupled from the optical flowdynamics, hence become unobservable, asymptotically. For other choices of motion parameters, shapeparameters remain asymptotically obseravble. Secondly we show that, if the surface is almost planar,then uncertainty in the shape of the surface propagates as an optical flow equation with additive statedependent uncertainty. Finally, we develop a recursive estimation algorithm, and present thenumerical simulation results.