Motion and shape identification with vision and range

Satoru Takahashi, Bijoy K. Ghosh

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


In this note, we consider the problem of motion and shape estimation using a camera and a laser range finder. The object considered is a plane which is undergoing a Riccati motion. The camera observes features on the moving plane perspectively. The range finder camera is capable of obtaining the range of the plane along a given "laser plane," which can either be kept fixed or can be altered in time. Finally, we assume that the identification is carried out as soon as the visual and range data is available or after a suitable temporal integration. In each of these various cases, we derive-to what extent motion and shape parameters are identifiable and characterize the results as orbit of a suitable group. The note does not emphasize any specific choice of algorithms.

Original languageEnglish
Pages (from-to)1392-1396
Number of pages5
JournalIEEE Transactions on Automatic Control
Issue number8
StatePublished - Aug 2002


  • Affine motion
  • Laser range finder
  • Machine vision
  • Parameter identification
  • Perspective dynamical system
  • Riccati motion
  • Rigid motion


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