Tracking a planar patch in three-dimensional space by affine transformation in monocular and binocular vision

摘要

The three-dimensional (3D) motion of a planar surface (or patch) can only be detected from the motion of its projected 2D contour or region image on the plane of vision. Acquirement of corresponding points is the most important procedure. In the past, many methods of how to find corresponding points were published frequently. Affine transformation is used for the matching work. By this transformation, the position, orientation and motion of a planar patch can be calculated. Numerical calculation is very simple in this method because only the mass moments need to be calculated not iterative or exhausting searching.