Estimation of an affine motion

Lili Ma; Chengyu Cao; Naira Hovakimyan; Craig Woolsey; Guoqiang Hu

doi:10.1109/ACC.2009.5160177

Estimation of an affine motion

Lili Ma, Chengyu Cao, Naira Hovakimyan, Craig Woolsey, Guoqiang Hu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper discusses the 3D affine motion estimation problem using two cameras via observations of a single feature point. The unknown parameters to be estimated include the nine rotational parameters, the three translational parameters, and the 3D position. One camera assumes a parabolic projection. The other camera is the conventional camera that has a planar projection surface. The parabolic camera is needed due to its ability of estimating the nine rotational parameters independently of the other camera. The conventional camera is utilized to solve the depth ambiguity problem. A closedloop nonlinear observer is developed for the affine motion estimation problem. Simulation results are presented to show the robustness of the proposed motion estimation scheme. Key Words: Motion estimation, affine motion, parabolic projection, stereo vision.

Original language	English (US)
Title of host publication	2009 American Control Conference, ACC 2009
Pages	5085-5090
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2009.5160177
State	Published - 2009
Externally published	Yes
Event	2009 American Control Conference, ACC 2009 - St. Louis, MO, United States Duration: Jun 10 2009 → Jun 12 2009

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2009 American Control Conference, ACC 2009
Country/Territory	United States
City	St. Louis, MO
Period	6/10/09 → 6/12/09

ASJC Scopus subject areas

Electrical and Electronic Engineering

Online availability

10.1109/ACC.2009.5160177

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title = "Estimation of an affine motion",

abstract = "This paper discusses the 3D affine motion estimation problem using two cameras via observations of a single feature point. The unknown parameters to be estimated include the nine rotational parameters, the three translational parameters, and the 3D position. One camera assumes a parabolic projection. The other camera is the conventional camera that has a planar projection surface. The parabolic camera is needed due to its ability of estimating the nine rotational parameters independently of the other camera. The conventional camera is utilized to solve the depth ambiguity problem. A closedloop nonlinear observer is developed for the affine motion estimation problem. Simulation results are presented to show the robustness of the proposed motion estimation scheme. Key Words: Motion estimation, affine motion, parabolic projection, stereo vision.",

author = "Lili Ma and Chengyu Cao and Naira Hovakimyan and Craig Woolsey and Guoqiang Hu",

year = "2009",

doi = "10.1109/ACC.2009.5160177",

language = "English (US)",

isbn = "9781424445240",

series = "Proceedings of the American Control Conference",

pages = "5085--5090",

booktitle = "2009 American Control Conference, ACC 2009",

note = "2009 American Control Conference, ACC 2009 ; Conference date: 10-06-2009 Through 12-06-2009",

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T1 - Estimation of an affine motion

AU - Ma, Lili

AU - Cao, Chengyu

AU - Hovakimyan, Naira

AU - Woolsey, Craig

AU - Hu, Guoqiang

PY - 2009

Y1 - 2009

N2 - This paper discusses the 3D affine motion estimation problem using two cameras via observations of a single feature point. The unknown parameters to be estimated include the nine rotational parameters, the three translational parameters, and the 3D position. One camera assumes a parabolic projection. The other camera is the conventional camera that has a planar projection surface. The parabolic camera is needed due to its ability of estimating the nine rotational parameters independently of the other camera. The conventional camera is utilized to solve the depth ambiguity problem. A closedloop nonlinear observer is developed for the affine motion estimation problem. Simulation results are presented to show the robustness of the proposed motion estimation scheme. Key Words: Motion estimation, affine motion, parabolic projection, stereo vision.

AB - This paper discusses the 3D affine motion estimation problem using two cameras via observations of a single feature point. The unknown parameters to be estimated include the nine rotational parameters, the three translational parameters, and the 3D position. One camera assumes a parabolic projection. The other camera is the conventional camera that has a planar projection surface. The parabolic camera is needed due to its ability of estimating the nine rotational parameters independently of the other camera. The conventional camera is utilized to solve the depth ambiguity problem. A closedloop nonlinear observer is developed for the affine motion estimation problem. Simulation results are presented to show the robustness of the proposed motion estimation scheme. Key Words: Motion estimation, affine motion, parabolic projection, stereo vision.

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DO - 10.1109/ACC.2009.5160177

M3 - Conference contribution

AN - SCOPUS:70449670748

SN - 9781424445240

T3 - Proceedings of the American Control Conference

SP - 5085

EP - 5090

BT - 2009 American Control Conference, ACC 2009

T2 - 2009 American Control Conference, ACC 2009

Y2 - 10 June 2009 through 12 June 2009

ER -

Estimation of an affine motion

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