TY - GEN

T1 - Online 3-D trajectory estimation of a flying object from a monocular image sequence

AU - Herrejon, R.

AU - Kagami, S.

AU - Hashimoto, K.

PY - 2009/12/11

Y1 - 2009/12/11

N2 - The problem considered here involves the design and application of a recursive algorithm to extract and predict the position of an object in a 3D environment from one feature correspondence from a monocular image sequence. Translational model involves an object moving in a parabolic path using projectile physics. A state-space model is constructed incorporating kinematic states, and recursive techniques are used to estimate the state vector as a function of time. The measured data are the noisy image plane coordinates of object match taken from image in the sequence. Image plane noise levels are allowed and investigated. The problem is formulated as a tracking problem, which can use an arbitrary large number of images in a sequence. The recursive estimation is done using Recursive Least Squares (RLS). Results on both synthetic and real imagery illustrate the performance of the estimator.

AB - The problem considered here involves the design and application of a recursive algorithm to extract and predict the position of an object in a 3D environment from one feature correspondence from a monocular image sequence. Translational model involves an object moving in a parabolic path using projectile physics. A state-space model is constructed incorporating kinematic states, and recursive techniques are used to estimate the state vector as a function of time. The measured data are the noisy image plane coordinates of object match taken from image in the sequence. Image plane noise levels are allowed and investigated. The problem is formulated as a tracking problem, which can use an arbitrary large number of images in a sequence. The recursive estimation is done using Recursive Least Squares (RLS). Results on both synthetic and real imagery illustrate the performance of the estimator.

UR - http://www.scopus.com/inward/record.url?scp=76249125629&partnerID=8YFLogxK

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U2 - 10.1109/IROS.2009.5353936

DO - 10.1109/IROS.2009.5353936

M3 - Conference contribution

AN - SCOPUS:76249125629

SN - 9781424438044

T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

SP - 2496

EP - 2501

BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Y2 - 11 October 2009 through 15 October 2009

ER -