Computer Tracking of Objects Moving in Space
J. Roach, J.K. Aggarwal · IEEE Transactions on Pattern Analysis and Machine Intelligence · 1979
A method is developed to represent movement of convex blocks in three-dimensional space from a sequence of two-dimensional camera images. The goals are to determine the objects' movement toward or away from the camera as well as left/right and up/down movement in the image plane and to build models of the blocks. The movement information is used as part of a hierarchical matching process that determines the correspondence of blocks between scenes.