Improving The Linear Approach To Motion Estimation Of Rigid Bodies By Means Of Nonlinear Constraints

C. Braccini; G. Gambardella; A. Grattarola; G. Pozzo; S. Zappatore

doi:10.1117/12.952201

1 May 1986 Improving The Linear Approach To Motion Estimation Of Rigid Bodies By Means Of Nonlinear Constraints

C. Braccini, G. Gambardella, A. Grattarola, G. Pozzo, S. Zappatore

Proceedings Volume 0594, Image Coding; (1986) https://doi.org/10.1117/12.952201
Event: 1985 International Technical Symposium/Europe, 1985, Cannes, France

Abstract

Estimating the 3-D motion from a sequence of images is one of the means to efficiently code time-varying scenes and to infer 3-D shape information for scene analysis. Linear and nonlinear approaches have been proposed in the literature to the problem of estimating the motion parameters of a rigid body from a set of corresponding points. In both approaches, errors on the input data reflect into approximations on the estimated parameters. in particular, in the case of the linear approach considered in this paper, the input errors affect the so-called matrix of the essential motion parameters, in such a way that the estimated motion does no longer correspond to the motion of a rigid body. We show that the estimate of the motion can be improved by constraining the above matrix to satisfy the properties corresponding to the motion of a rigid body. This implies adding nonlinear constraints to the original set of linear equations. On the other hand, the unconstrained solution of these latter turns out to be a convenient initial guess for the iterative procedure used to solve the resulting least squares problem. Some simulation ana experimental results are presented, showing how the improvements of the estimated motion depend on the image resolution, the number of corresponding points, their spatial distribution, the amount of motion and the sensor calibration.

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C. Braccini, G. Gambardella, A. Grattarola, G. Pozzo, and S. Zappatore "Improving The Linear Approach To Motion Estimation Of Rigid Bodies By Means Of Nonlinear Constraints", Proc. SPIE 0594, Image Coding, (1 May 1986); https://doi.org/10.1117/12.952201

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