Estimating The Three-Dimensional Motion Of A Rigid Planar Patch In The Hough Parameter Space

Gonzalo R. Arce; Wayne E. Wonchoba; Erick R. Malaret

doi:10.1117/12.942779

19 February 1988 Estimating The Three-Dimensional Motion Of A Rigid Planar Patch In The Hough Parameter Space

Gonzalo R. Arce, Wayne E. Wonchoba, Erick R. Malaret

Proceedings Volume 0848, Intelligent Robots and Computer Vision VI; (1988) https://doi.org/10.1117/12.942779
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

We develop new methods for estimating the three-dimensional general motion (rotation and translation) parameters of a rigid planar patch from two-dimensional perspective views at two time instances. The proposed method requires line correspondences between images in the Hough parameter space. With the Hough transform, the extraction of line features from scenes is simple and since the Hough transform is not severely affected by random noise, the dimensionality of the system to be solved should be small since least-squares solutions may not be necessary. We find that in the case of pure translation, three line correspondences are necessary to yield unique, linear solutions. A relative depth map of the object space can also be obtained. For the case of pure rotation, three line correspondences are also necessary to yield unique, linear solutions, and the object lines do not have to lie in a planar patch. It is not possible, however, to obtain a relative depth map of the object space. For the general case, four correspondences are needed to solve for the motion parameters, and the solution is not linear. Moreover, a relative depth map of the object space can be obtained.

Citation Download Citation

Gonzalo R. Arce, Wayne E. Wonchoba, and Erick R. Malaret "Estimating The Three-Dimensional Motion Of A Rigid Planar Patch In The Hough Parameter Space", Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); https://doi.org/10.1117/12.942779

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KEYWORDS

Motion estimation

Hough transforms

Computer vision technology

Machine vision

Robots

Robot vision

Chemical elements

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