D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982. 23  Home/Search   Document Not in Database   Summary   Related Articles   Check

....and, indeed, it opens a new and exciting avenue of research in nonlinear systems theory. Although the first formulations of the visual motion estimation problem date back to the beginning of the century [31, 77] only within recent years tools from control and estimation theory have been applied [3, 8, 9, 28, 29, 35, 52, 56, 60, 66], with rather encouraging results in traditionally difficult applications, such as autonomous vehicle navigation [18, 19, 20] visionbased tracking and servo [12, 21, 42, 44] vision based manipulation [5, 21, 42] docking [19, 37] vision based planning [14] active sensing [69] As the ....

....of the data processing technique as 2 frames schemes (see for example [38, 49, 78] multiframe batch methods [70, 75] or recursive algorithms. In the last decade a variety of schemes has been proposed for recursively reconstructing structure for known motion [52] motion for known structure [9, 28, 29] or both structure and motion [3, 35, 56, 60, 66] In general, given either the relative motion or the shape of the object being viewed, the other can be recovered easily, since the problem can be reduced to a linear estimation task. When neither the motion nor the shape of the scene are known, ....

D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982. 23

....Any reading greater than 8m is assumed to be an error (see Section [II D] readings above this threshold are ignored. C. Foreground Model Many methods exist for determining structure of objects independent of motion [21] structure from motion [16] 20] and motion of a known structure [27] [10], 11] Koller [17] has described a method of tracking objects using a template of the object. We use a method of recursive estimation of motion using a linear model. Effectively, our template of the object for any given scan is given by the previous scan. The tracking process is divided into two ....

D.Gennery. Tracking known 3-dimensional objects. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982.

....state at the end of the next scan. The gen x blobs are removed and the current gen y blobs become the gen x blobs for the next scan. D. Motion Model Many methods exist for determining structure independent of motion [20] structure from motion [15] 19] and motion of a known structure [26] [10], 11] Koller et al. [16] have described a method of tracking objects using a template of the object. We use a method of recursive estimation of motion using an EKF aided by the constraint that the resulting images lie on the previously determined surface. E ectively, our template of the object ....

D.Gennery. Tracking known 3-dimensional objects. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13-17, Pittsburg, PA, 1982.

....the object and the path of the center of projection cannot be embedded in a quadric surface [15, 38] and may be verified using a simple rank test. Existing literature and relations to previous work The use of dynamic observers to estimate scene structure and or motion dates back to the eighties [6, 16, 23, 37]. It was commonly assumed that either the viewer s motion or the shape of the object was known. More recent work deals with the estimation of both structure and motion recursively from perspective projections [1, 5, 24, 43, 49] using an EKF. The different schemes are based upon minor variations of ....

D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982. 18

.... bundle adjustment . If one can a ord the time for processing sequences of images o line, of course a batch approach that optimizes simultaneously on all frames will perform better 2 Our work falls within the category of causal motion and structure estimation that has a long and rich history [10, 7, 18, 4, 23, 19, 32, 9, 30, 24, 8, 12, 26, 11, 31, 34, 33, 13, 25, 16, 1, 2, 22, 35, 15]. The rst attempts to prove stability of the schemes proposed are recent [21] The rst attempts to handle occlusions in a causal scheme 3 came only a few years ago [19, 29] Our approach is similar in spirit to the work of Azarbayejani and Pentland [2] extended to handle occlusions and to ....

D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13-17, Pittsburg, PA, 1982.

.... the direction of heading alone) Even if we restrict our attention to sequences of perspective images of point features processed in a causal fashion, there are still quite a few schemes available in the literature for estimating structure for known motion [16] motion from known structure [6, 9] or both structure and motion simultaneously [1, 4, 5, 7, 11, 17, 19, 29, 30] More recently, recursive schemes have been proposed for estimating motion independent of structure [25] or structure independent of motion [24] Soatto and Perona [28] have proposed a framework that unifies all ....

D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982.

....for structure estimation [14, 18, 22] Therefore the representation described by (1) and (2) though being the very simplest one can imagine, is not the most appropriate for motion estimation. The recent literature proposes a variety of techniques for recovering structure and or motion recursively [3, 14, 8, 7, 1, 18, 22], all of them based essentially on the same basic model (1) 2) which in fact defines the visual motion problem for feature points in the euclidean 3D space 3 . In particular, among those dealing with both structure and motion estimation, 1] is based on an extended model with motion added to ....

Gennery, D. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell. (Pittsburg, PA, 1982), pp. 13--17.

.... the direction of heading alone) Even if we restrict our attention to sequences of perspective images of point features processed in a causal fashion, there are still quite a few schemes available in the literature for estimating structure for known motion [16] motion from known structure [6, 9] or both structure and motion simultaneously [1, 4, 5, 7, 11, 17, 19, 29, 30] More recently, recursive schemes have been proposed for estimating motion independent of structure [25] or structure independent of motion [24] Soatto and Perona [28] have proposed a framework that unifies all ....

D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982.

....Such (sufficient) conditions are met when the object and the path of the center of projection cannot be embedded in a quadric surface [10, 23] and may be verified using a simple rank test. The use of dynamic observers to estimate scene structure and or motion dates back to the eighties [4, 11, 14, 22]. Many current schemes (for instance [1, 22, 27] are based upon minor variations of the same model, and none of them addresses the issue of its observability. Our work is somehow complementary to [7, 12] in which the feasibility of structure estimation for known motion is assessed. We study ....

D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982.

....the object and the path of the center of projection cannot be embedded in a quadric surface [15, 38] and may be verified using a simple rank test. Existing literature and relations to previous work The use of dynamic observers to estimate scene structure and or motion dates back to the eighties [6, 16, 23, 37]. It was commonly assumed that either the viewer s motion or the shape of the object was known. More recent work deals with the estimation of both structure and motion recursively from perspective projections [1, 5, 24, 43, 49] using an EKF. The different schemes are based upon minor variations of ....

D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982.

....when available, or simply by including measurements for example from board instrumentation. 4 Relation to previous work The literature on Kalman Filter based recursive algorithms for recovering 3 D structure and or motion from a monocular sequence of images dates back to the early eighties [7]. Extensive work has been done on three main variants of the problem: recovery of motion with known structure [4, 7, 8] recovery of structure with known motion [17, 20] and simultaneous recovery of motion and structure [3, 12, 13] We review the literature related to our work in the next ....

.... previous work The literature on Kalman Filter based recursive algorithms for recovering 3 D structure and or motion from a monocular sequence of images dates back to the early eighties [7] Extensive work has been done on three main variants of the problem: recovery of motion with known structure [4, 7, 8], recovery of structure with known motion [17, 20] and simultaneous recovery of motion and structure [3, 12, 13] We review the literature related to our work in the next paragraph. We do not review here the extensive literature on batch approaches to the motion and structure problem (for recent ....

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D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982.

....and, indeed, it opens a new and exciting avenue of research in nonlinear systems theory. Although the first formulations of the visual motion estimation problem date back to the beginning of the century [31, 77] only within recent years tools from control and estimation theory have been applied [3, 8, 9, 28, 29, 35, 52, 56, 60, 66], with rather encouraging results in traditionally difficult applications, such as autonomous vehicle navigation [18, 19, 20] vision based tracking and servo [12, 21, 42, 44] vision based manipulation [5, 21, 42] docking [19, 37] vision based planning [14] active sensing [69] As the ....

....terms of the data processing technique as 2 frames schemes (see for example [38, 49, 78] multiframe batch methods [70, 75] or recursive algorithms. In the last decade a variety of schemes has been proposed for recursively reconstructing structure for known motion [52] motion for known structure [9, 28, 29] or both structure and motion [3, 35, 56, 60, 66] In general, given either the relative motion or the shape of the object being viewed, the other can be recovered easily, since the problem can be reduced to a linear estimation task. When neither the motion nor the shape of the scene are known, ....

D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Nat. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982.

....California Institute of Technology, January 1994 revised February 1994. Reduced version in Proc. of the 1 st IEEE Conf. on Image Processing , Austin Texas Oct. 1994. A number of schemes exist for estimating recursively structure for known motion [17, 18] motion for known structure [2, 6, 7] or both structure and motion simultaneously (for example [1, 12] We argue against simultaneous structure and motion estimation for two reasons: a) complexity including the structure of the scene into the state of the filter makes it computationally demanding and requires sophisticated ....

D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982.

....viewed from a sequence of monocular perspective images. Since our main interest is on real time causal processing, we do not review batch techniques here. Recursive estimation techniques have started being applied to special instances of the visual motion estimation problem only in the last decade [7, 8]. A number of schemes exist for recursively estimating structure for known motion [21] motion for known structure [4, 8, 9] or both structure and motion simultaneously (see for instance [1, 2, 12, 23, 32] and references therein) We argue against simultaneous structure and motion estimation for ....

....not review batch techniques here. Recursive estimation techniques have started being applied to special instances of the visual motion estimation problem only in the last decade [7, 8] A number of schemes exist for recursively estimating structure for known motion [21] motion for known structure [4, 8, 9] or both structure and motion simultaneously (see for instance [1, 2, 12, 23, 32] and references therein) We argue against simultaneous structure and motion estimation for three reasons: a) complexity including the structure of the scene into the state of the filter makes it computationally ....

D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982.

....humans to successfully accomplish tasks such as walking, driving, recognizing and grasping objects. Although the first formulations of the visual motion problem date back to the beginning of the century [16, 33] only within recent years tools from control and estimation theory have been applied [1, 3, 7, 13, 15, 17, 23, 26, 29, 31], with rather encouraging results in traditionally difficult applications, such as autonomous vehicle navigation [8, 9, 10, 11] visual based tracking and servo [5, 12, 19, 20] visual based manipulation [2, 12, 19] docking [10, 18] visual based planning [6] active sensing [32] Vision in the ....

....for example, nonlinear observability and identifiability in a projective geometric framework, and estimation and control on topological manifolds. In the last decade a variety of schemes has been proposed for reconstructing recursively structure for known motion [23] motion for known structure [3, 13, 14] or both structure and motion [1, 17, 26, 29, 31] In this paper we highlight some limitations of the model employed and study a new formalization in terms of identification of a nonlinear implicit model. 2. The essential space representation of rigid motion A rigid motion may be represented as ....

D.B. Gennery. Tracking known 3-dimensional object. In Proc. AAAI 2nd Natl. Conf. Artif. Intell., pages 13--17, Pittsburg, PA, 1982.

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