Dynamic Structure and Motion Estimation based on Non-linear Adaptive Observers

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Dynamic Structure and Motion Estimation based on Non-linear Adaptive Observers

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dc.contributor.author Dahl, Ola
dc.contributor.author Heyden, Anders
dc.date.accessioned 2009-01-14T11:31:43Z
dc.date.available 2009-01-14T11:31:43Z
dc.date.issued 2008-12
dc.identifier.uri http://hdl.handle.net/2043/7398
dc.description.abstract Structure and motion estimation from long image sequences is a an important and difficult problem in computer vision. We propose a novel approach based on nonlinear and adaptive observers based on a dynamic model of the motion. The estimation of the threedimensional position and velocity of the camera as well as the three-dimensional structure of the scene is done by observing states and parameters of a nonlinear dynamic system, containing a perspective transformation in the output equation, often referred to as a perspective dynamic system. An advantage of the proposed method is that it is filter-based, i.e. it provides an estimate of structure and motion at each time instance, which is then updated based on a novel image in the sequence. The observer demonstrates a trade-off compared to a more computer vision oriented approach, where no specific assumptions regarding the motion dynamics are required, but instead additional feature points are needed. Finally, the performance of the proposed method is shown in simulated experiments. en
dc.language.iso eng en
dc.publisher International Association of Pattern Recognition en
dc.subject on-line structure and motion estimation en
dc.subject non-linear adaptive filters en
dc.subject.classification Technology en
dc.title Dynamic Structure and Motion Estimation based on Non-linear Adaptive Observers en
dc.type Article, peer reviewed scientific en
dc.contributor.department Malmö University. School of Technology en
dc.subject.srsc Research Subject Categories::TECHNOLOGY::Information technology::Computer science en
dc.subject.srsc Research Subject Categories::TECHNOLOGY::Information technology::Automatic control en
dc.relation.ispartofpublication Proceedings International Conference on Pattern Recognition en
mahlocal.rights.oaType green
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