Object Movement Computation from Two Images

Abstract

This paper presents a new object movement computation method using ray vectors generated from two cameras. We compute camera's internal and external parameters of the input images using computed values from partially overlapping input image frames which has the same corresponding fixed feature points. This is achieved by computing fixed points in the environment, camera distortion values and internal and external parameters from stationary objects. Ray vectors cast from each camera to feature points keep camera external parameter values. Using computed camera external parameters, a tracked object's rigid object movement is estimated using maximum likelihood estimation by setting projected intersection points between ray vectors as a part of objective function. Our method is demonstrated and the results are compared to our another movement computation algorithm.