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.


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    Title :

    6 Degree-of-Freedom Motion Estimation of a Moving Target using Monocular Image Sequences


    Contributors:


    Publication date :

    2013-10-01


    Size :

    1544623 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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