3D structure and motion recovery in a multisensor framework

Abstract The aim of this article is to develop a multisensor estimation method to identify the 3D structure and motion of an object. The method lies in the feature description of the object and the solution uses an extended Kalman filter (EKF) which fuses information from each sensor. The filter tracks the features through the data sequences and estimates the 3D position and affines motion parameters. The originality of this work relies on a 3D modelling of this problem to jointly estimate the 3D structure and motion. This estimation is made possible by the use of an active sensor (range camera).

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