6-DOF MOTION AND CENTER OF ROTATION ESTIMATION BASED ON STEREO VISION

摘要

A new motion model and estimation algorithm is proposed to compute the general rigid motion object′s 6-DOF motion parameters and center of rotation based on stereo vision.The object′s 6-DOF motion model is designed from the rigid object′s motion character under the two defined reference frames.According to the rigid object′s motion model and motion dynamics knowledge,the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out.By the risid object pure rotation motion model and space sphere geometry knowledge,the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion.The motion equations are educed based on the motion model and the closed-form solutions are figured out.To heighten the motion estimation algorithm′s robust,RANSAC algorithm is applied to delete the outliers.Simulation and real experiments are conducted and the experiment results are analyzed.The results prove the motion model′s correction and algorithm′s validity.