机械工程学报

CAO Wanpeng
Department of Automatic Measurement and Control,
Harbin Institute of Technology,
Harbin 150001, China

BI Wei
China Academy of Machinery Science and Technology
Beijing 100044, China
CHE Rensheng
Department of Automatic Measurement and Control,
Harbin Institute of Technology,
Harbin 150001, China

GUO Wenbo
Department of Electrical Engineering and Automation,
Harbin Institute of Technology,
Harbin 150001, China

YE Dong
Department of Automatic Measurement and Control,
Harbin Institute of Technology,
Harbin 150001, China

6-DOF MOTION AND CENTER OF ROTATION ESTIMATION BASED
ON STEREO VISION*

Abstract: A new motion model and estimation algorithm is proposed to compute the general rigid motion object’s 6-DOF motion parameters and center of rotation based on stereo vision. The object’s 6-DOF motion model is designed from the rigid object’s motion character under the two defined reference frames. According to the rigid object’s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm’s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model’s correction and algorithm’s validity.

Key words: Motion estimation Center of rotation 6-DOF motion Stereo vision

* This project is supported by National Natural Science Foundation of China (No. 50275040). Received May 13, 2007; received in revised form January 17, 2008; accepted January 18, 2008

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Biographical notes

CAO Wanpeng, born in 1976, is currently a PhD candidate in Department of Automatic Measurement and Control, Harbin Institute of Technology, China. His research interests include computer vision, image processing, pattern recognition, virtual reality, etc.
Tel: +86-451-86417444, +86-13039971111; E-mail: wanpeng_cao@yahoo.cn

BI Wei, is currently an engineer in China Academy of Machinery Science and Technology, China. Her research interests include precision mechanics, optics measurement, etc.
Tel: +86-10-88301767; E-mail: bi_wei@yahoo.cn

CHE Rensheng, is currently a professor in Department of Automatic Measurement and Control, Harbin Institute of Technology, China. His research interests include optics measurement, computer vision, virtual reality, etc.
Tel: +86-451-86417444

GUO Wenbo, is currently in Department of Electrical Engineering and Automation, Harbin Institute of Technology, China. His research interests include computer vision, electrical automation, etc.

Tel: +86-451-86410784
YE Dong, is currently a professor in Department of Automation Measurement and Control, Harbin Institute of Technology, China. His research interests include computer vision, optics measurement, etc.
Tel: +86-451-86417444

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