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Proceedings Paper

Three-dimensional rigid motion estimation using genetic algorithms from image sequence in an active stereo vision system
Author(s): Albert Dipanda; Jerome Ajot; Sanghyuk Woo
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Paper Abstract

This paper proposes a method for estimating 3D rigid motion parameters from an image sequence of a moving object. The 3D surface measurement is achieved using an active stereovision system composed of a camera and a light projector, which illuminates objects to be analyzed by a pyramid-shaped laser beam. By associating the laser rays and the spots in the 2D image, the 3D points corresponding to these spots are reconstructed. Each image of the sequence provides a set of 3D points, which is modeled by a B-spline surface. Therefore, estimating the motion between two images of the sequence boils down to matching two B-spline surfaces. We consider the matching environment as an optimization problem and find the optimal solution using Genetic Algorithms. A chromosome is encoded by concatenating six binary coded parameters, the three angles of rotation and the x-axis, y-axis and z-axis translations. We have defined an original fitness function to calculate the similarity measure between two surfaces. The matching process is performed iteratively: the number of points to be matched grows as the process advances and results are refined until convergence. Experimental results with a real image sequence are presented to show the effectiveness of the method.

Paper Details

Date Published: 1 July 2003
PDF: 9 pages
Proc. SPIE 5016, Computational Imaging, (1 July 2003); doi: 10.1117/12.477361
Show Author Affiliations
Albert Dipanda, Univ. de Bourgogne (France)
Lab. d'Electronique, d'Informatique et d'Image, CNRS (France)
Jerome Ajot, Univ. de Bourgogne (France)
Lab. d'Electronique, d'Informatique et d'Image, CNRS (France)
Sanghyuk Woo, Univ. de Bourgogne (France)
Lab. d'Electronique, d'Informatique et d'Image, CNRS (France)


Published in SPIE Proceedings Vol. 5016:
Computational Imaging
Charles A. Bouman; Robert L. Stevenson, Editor(s)

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