A theory on the determination of 3D motion and 3D structure from features SHUN-ICHI AMARI1 and MINORU MARUYAMA2 1Department of Mathematical Engineering and Instrumentation Physics, Faculty of Engineering, University of Tokyo, Tokyo 113, Japan, and 2Central Research Laboratory, Mitsubishi Electric Corporation, Amagasaki 661, Japan Received 2 March 1987; revised 30 April 1987: accepted 8 May 1987 Abstract-The present paper proposes a mathematical theory and a method of recognition of both the 3D structure and the motion of a moving object from its monocular image. Initially, characteristic features are extracted from the 2D perspective image of the object. Because motion of the object induces a change in its 2D perspective image, it also induces a change in the features which depends on the 3D structure and the velocity of the object. This suggests the possibility of detecting the 3D structure and the motion directly from the features and their changing rate, without the need for calculating optical flows. An analysis is made of the relation between the 3D rigid motion of a surface element and the change in local linear features. From this relation, a method is proposed for calculating the velocity of and the normal to the surface
Spatial Vision (continued as Seeing & Perceiving from 2010) – Brill
Published: Jan 1, 1987
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