Uniqueness Results For Constant Acceleration And Precession Model in 3-DS Motion Estimation Using A Sequence Of Noisy Stereo Images/spl dag/
Gem-Sun Young · 2005
We discuss uniqueness of motion parameter estimates in the kinematic model based approach presented in [1, 2] for the constant acceleration and precession motion model. The kinematic model is designed for the estimation of 3-D motion parameters from a sequence of noisy stereo images. A constructive proof of uniqueness is given by separating the rotational parameters from the translational parameters. If an uniform sampling scheme is applied, we show that three noncollinear feature points in five consecutive binocular image pairs contain all the spatial and temporal information. Furthermore, while the velocity and acceleration parameters are unique, the solution sets have seven configurations in the rotational parameters and three configurations in the translational position vector and the rotation center due to the stroboscopic effect, which is not encountered in two-view motion analysis.