Observability/Identifiability of Rigid Motion under Perspective Projection
The "visual motion estimation" problem concerns the reconstruction of the motion of an object viewed under projection. This paper addresses the feasibility of such a problem when the object is represented as a "rigid" set of point-features in the Euclidean 3D space. We represent rigid motion as a point on the so-called "essential manifold" and show that it is globally observable from perspective projections under some general position conditions. Such conditions hold when the path of the viewer and the visible objects cannot be embedded in a quadric surface of R^3.
© 1994 IEEE. The author wishes to thank Prof. Pietro Perona for his advice, directions, interaction and support. Prof. Ruggero Freva and Prof. Giorgio Picci were very helpful with discussions and suggestions. The discussions with Prof. Richard Murray, Michiel van Nieuwstadt and Andrea Mennucci were crucial in understanding the geometric structure of the problem. This research has been funded by the California Institute of Technology, a fellowship from the "Fondazione Ing. Aldo Gini". a fellowship from the University of Padova-Italy, ONR grant N00014-93-1-0990, an AT&T Foundation Special Purpose grant. A long version of this paper has been submitted to the IFAC journal "Automatica".
Published - 00411638.pdf
Accepted Version - soatto_obsCDC94.pdf