6-DOF MOTION AND CENTER OF ROTATION ESTIMATION BASED ON STEREO VISION  

作　　者：CAO Wanpeng BI Wei CHE Rensheng GUO Wenbo YE Dong 

机构地区：[1]Department of Automatic Measurement and Control, Harbin Institute of Technology, Harbin 150001, China [2]China Academy of Machinery Science and Technology Beijing 100044, China [3]Department of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin 150001, China

出　　处：《Chinese Journal of Mechanical Engineering》2008年第2期87-92,共6页中国机械工程学报（英文版）

基　　金：National Natural Science Foundation of China (No.50275040)

摘　　要：A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed from the rigid object＇s motion character under the two defined reference frames. According to the rigid object＇s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm＇s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model＇s correction and algorithm＇s validity.A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed from the rigid object＇s motion character under the two defined reference frames. According to the rigid object＇s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm＇s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model＇s correction and algorithm＇s validity.

关 键 词：Motion estimation Center of rotation 6-DOF motion Stereo vision 

分 类 号：TN94[电子电信—信号与信息处理]