Motion and shape identification with vision and range

Satoru Takahashi; Bijoy K. Ghosh

doi:10.1109/TAC.2002.801196

Motion and shape identification with vision and range

Satoru Takahashi, Bijoy K. Ghosh

Mathematics and Statistics

Research output: Contribution to journal › Article › peer-review

11 Scopus citations

Abstract

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 language	English
Pages (from-to)	1392-1396
Number of pages	5
Journal	IEEE Transactions on Automatic Control
Volume	47
Issue number	8
DOIs	https://doi.org/10.1109/TAC.2002.801196
State	Published - Aug 2002

Keywords

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

Access to Document

10.1109/TAC.2002.801196

Cite this

@article{47a7821ac9b945cfb05a65b01262c7c5,

title = "Motion and shape identification with vision and range",

abstract = "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.",

keywords = "Affine motion, Laser range finder, Machine vision, Parameter identification, Perspective dynamical system, Riccati motion, Rigid motion",

author = "Satoru Takahashi and Ghosh, {Bijoy K.}",

note = "Funding Information: Manuscript received January 10, 2001; revised January 16, 2002 and April 4, 2002. Recommended by Associate Editor L. Y. Wang. This work was supported in part by the National Science Foundation under Grant 9720357. S. Takahashi is with the Department of Information Sciences, Tokyo Denki University, Saitama 350-0394, Japan (e-mail: saru@j.dendai.ac.jp). B. K. Ghosh is with the Department of Systems Science and Mathematics, Washington University, St. Louis, MO 63130 USA (e-mail: ghosh@ zach.wustl.edu). Publisher Item Identifier 10.1109/TAC.2002.801196.",

year = "2002",

month = aug,

doi = "10.1109/TAC.2002.801196",

language = "English",

volume = "47",

pages = "1392--1396",

journal = "IEEE Transactions on Automatic Control",

issn = "0018-9286",

number = "8",

}

TY - JOUR

T1 - Motion and shape identification with vision and range

AU - Takahashi, Satoru

AU - Ghosh, Bijoy K.

N1 - Funding Information: Manuscript received January 10, 2001; revised January 16, 2002 and April 4, 2002. Recommended by Associate Editor L. Y. Wang. This work was supported in part by the National Science Foundation under Grant 9720357. S. Takahashi is with the Department of Information Sciences, Tokyo Denki University, Saitama 350-0394, Japan (e-mail: saru@j.dendai.ac.jp). B. K. Ghosh is with the Department of Systems Science and Mathematics, Washington University, St. Louis, MO 63130 USA (e-mail: ghosh@ zach.wustl.edu). Publisher Item Identifier 10.1109/TAC.2002.801196.

PY - 2002/8

Y1 - 2002/8

N2 - 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.

AB - 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.

KW - Affine motion

KW - Laser range finder

KW - Machine vision

KW - Parameter identification

KW - Perspective dynamical system

KW - Riccati motion

KW - Rigid motion

UR - http://www.scopus.com/inward/record.url?scp=0036687286&partnerID=8YFLogxK

U2 - 10.1109/TAC.2002.801196

DO - 10.1109/TAC.2002.801196

M3 - Article

AN - SCOPUS:0036687286

SN - 0018-9286

VL - 47

SP - 1392

EP - 1396

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 8

ER -

Motion and shape identification with vision and range

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this