Accession Number:

ADA125825

Title:

Uniqueness and Estimation of Three-Dimensional Motion Parameters of Rigid Objects with Curved Surfaces

Descriptive Note:

Technical rept. 15 Apr-15 Oct 1981

Corporate Author:

ILLINOIS UNIV AT URBANA COORDINATED SCIENCE LAB

Personal Author(s):

Report Date:

1981-10-30

Pagination or Media Count:

61.0

Abstract:

The authors show that seven pilot correspondences are sufficient to uniquely determine from two perspective views the three-dimensional motion parameters within a scale factor for the translations of a rigid object with curved surfaces. The seven points should not be traversed by two planes with one plane containing the origin, nor by a cone containing the origin. A set of essential parameters are introduced which uniquely determine the motion parameters up to a scale factor for the translations, and can be estimated by solving a set of linear equations which are derived from the correspondences of eight image points. The actual motion parameters can subsequently be determined by computing the singular value decomposition of a 3x3 matrix containing the essential parameters. No nonlinear equations need be solved.

Subject Categories:

  • Theoretical Mathematics
  • Optics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE