Recursive Motion Estimation of Range Image

ABSTRACT In this paper, we present an innovative recursive motion estimation technique that can take advantage of the in-depth resolution (range) to perform an accurate estimation of objects that have undergone 3-D translational and rotational movements. This approach iteratively aims at minimizing the error between the object in the current frame and its compensated object using estimated motion displacement from the previous range measurements. In addition, in order to use the range data on the non-rectangular grid in the Cartesian coordinate, we consider a combination of derivative filters and the transformation between the Cartesian coordinates and the sensor-centered coordinates. For sequences of moving range images we demonstrate the effectiveness of the proposed scheme. , which is more straightforward than the feature-based algorithm. In our approach, which falls in this category, we are mainly concerned with rigid motion where the structure of moving images is based on a single beam laser scanner technology. In this technology a deflection mirror assembly scans a beam over the scene. This type of technique has been widely used for many tactical and industria

Recursive Motion Estimation of Range Image

In this paper, we present an innovative recursive motion estimation technique that can take advantage of the in-depth resolution (range) to perform an accurate estimation of objects that have undergone 3-D translational and rotational movements. This approach iteratively aims at minimizing the error between the object in the current frame and its compensated object using estimated motion displacement from the previous range measurements. In addition, in order to use the range data on the non-rectangular grid in the Cartesian coordinate, we consider a combination of derivative filters and the transformation between the Cartesian coordinates and the sensor-centered coordinates. For sequences of moving range images we demonstrate the effectiveness of the proposed scheme. Index Terms — 3-D motion estimation, range image, object tracking, Ladar, Laser scanners 1