从一维透视投影光流场恢复二维刚体运动和形状

Recovery of 2D Rigid Motion and Structure from 1D Optical Flow under Perspective Projection

研究从一维透视投影光流场恢复二维刚体运动和结构。证明利用一维透视投影光流场中最少 5个光流点可以完全确定刚体的二维角速度和角加速度 ,一般情况下有 2个解。利用一维透视投影光流场只能确定含一个未知比例因子的刚体二维平移速度、平移加速度和二维刚体的结构 。

In this paper, we studied the problem of the recov er y of the two-dimensional rigid motion and structure from a one-dimensional opt ical flow field under perspective projection. The geometric model and mathematic model of a moving rigid object are set up. It is proved that the two-dimension al rotation parameters can be determined by using at least five optical flow po ints. In general, there are two groups of rotation parameters. The translation m otion and the structure parameters of the two-dimensional rigid object with a s cale factor are obtained. Its two-dimensional shape can be determined completel y. A computing example is given.