Detecting 3-D motion field from range image sequences

摘要

An algorithm for computing three-dimensional (3-D) velocity fieldnand motion parameters from a range image sequence is presented. It isnbased on a new integral 3-D rigid motion invariant feature-the trace ofna 3×3 “feature matrix” related to the moment ofninertia tensor. This trace can be computed at every point of a movingnsurface and provides a quantitative measure of the local shape of thensurface. Based on the feature's conservation along the trajectory ofnevery moving point, a 3-D Flow Constraint Equation is formulated andnsolved for the velocity field. The robustness of the feature in presencenof noise and discontinuity is analyzed