A novel estimation method for the 6 degree-of-freedom (6-DOF) motion of a target moving with slowly varying velocity is proposed, which is based on the monocular image sequences from a moving camera. The homography matrix for moving targets is derived. It is shown that the dynamic model of the target in 6-DOF motion can be described as a linear time-varying system. Consequently, the Kalman filter can be directly applied. Our estimation method does not need a priori information of target depth or size. The observability condition of our estimator is much milder than that of the previously known bearings-only tracking methods.
6 Degree-of-Freedom Motion Estimation of a Moving Target using Monocular Image Sequences
IEEE Transactions on Aerospace and Electronic Systems ; 49 , 4 ; 2818-2827
01.10.2013
1544623 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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