Motion estimation without correspondences and object tracking over long time sequences

Dmitry B. Goldgof; Hua Lee; Thomas S. Huang

doi:10.1117/12.25249

1 April 1991 Motion estimation without correspondences and object tracking over long time sequences

Dmitry B. Goldgof, Hua Lee, Thomas S. Huang

Proceedings Volume 1383, Sensor Fusion III: 3D Perception and Recognition; (1991) https://doi.org/10.1117/12.25249
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

This paper presents moment-based algorithms for matching and motion estimation of 3-D point or line sets and application of these algorithms to object tracking over long time sequences. The motion analysis is done by identifying two sets of coordinate directions based on relative position of points (or lines) before and after the motion. Since these coordinate vectors are motion invariant, the relationship between them gives parameters of rigid motion. However, we need to verify that the sets before and after the motion are matched before applying motion estimation algorithm. We propose several measures suitable for matching of 3-D point (and line) sets, test them on simulated data and develop several criteria for determining noise sensitivity of matching and motion estimation algorithms. Finally, we apply the proposed algorithm to the long sequence (24) of real data (moving vehicle) on which 3-D points were determined by stereo matching.

Citation Download Citation

Dmitry B. Goldgof, Hua Lee, and Thomas S. Huang "Motion estimation without correspondences and object tracking over long time sequences", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); https://doi.org/10.1117/12.25249

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available