Modelling of rigid objects by bidimensional moments. Applications to the estimation of 3D rotations

摘要

In this paper the moment method has been extended to characterize an object moving in three-dimensional (3D) space. The model evolved is a function of the photometrical characteristics and variations of the projected 2D moments of the object in relation to its various positions. Here, the object is characterized by a set of appropriate moments describing it in relation to image translation and rotation. By using five separate camera images of this object in various positions, the zero-, first- and second-order reference moments could be determined. Experimental results applied to the determination of parameters of a 3D rotation have confirmed the validity of such a method.