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Proceedings Paper

Recovery of 3-D Motion of a Single Particle
Author(s): Siu-Leong Iu; Kwangyoen Wohn
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Paper Abstract

In our previous analysis reported elsewhere, we have shown that 3-D velocity of a single point up to a scale factor could be recovered from its 2-D trajectory under the perspective projection. A batch method was used to solve the non-linear regression relation between motion parameters and measurements of projected position. Experimental results obtained from simulated images were given to demonstrate the soundness of this approach. In this paper, we extend our work along two directions. First, in order to make the estimation process meet the constraint of real-time computation, we derive the recursive approach to estimate the motion parameters. Second, we investigate the performance degradation due to two classes of model mismatch: parameter jumping and undermodeling. Then we propose the finite lifetime asynchronically triggered multiple model filter (FLAT MMF), as a solution. A number of simulations are conducted to illustrate the estimation performance degradation due to the model mismatches and the performance improvement as the proposed FLAT MMF is used.

Paper Details

Date Published: 1 March 1990
PDF: 12 pages
Proc. SPIE 1192, Intelligent Robots and Computer Vision VIII: Algorithms and Techniques, (1 March 1990); doi: 10.1117/12.969788
Show Author Affiliations
Siu-Leong Iu, University of Pennsylvania (United States)
Kwangyoen Wohn, University of Pennsylvania (United States)


Published in SPIE Proceedings Vol. 1192:
Intelligent Robots and Computer Vision VIII: Algorithms and Techniques
David P. Casasent, Editor(s)

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