Abstract
We propose a new method of estimating the 6 DOF(Degree-of-Freedom) motion of a unknown moving object using monocular image sequences. By using the parameters of the homography matrix, we can describe the 6 DOF dynamics of a moving object as a linear time-varying system. Based on this dynamic model, we design a 6DOF motion estimator of the object. We also show that the observability condition of the proposed 6 DOF estimator is much milder than that of the bearings-only tracking methods. Then, we demonstrate the performance of the proposed estimator through various simulation results.
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