In this paper, we consider the problem of localizing a projectile in 3D based on its apparent motion in a stationary monocular view. A thorough theoretical analysis is developed, from which we establish the minimum conditions for the existence of a unique solution. The theoretical results obtained have important implications for applications involving projectile motion. A robust, nonlinear optimization-based formulation is proposed, and the use of a local optimization method is justified by detailed examination of the local convexity structure of the cost function. The potential of this approach is validated by experimental results.
|Original language||English (US)|
|Number of pages||7|
|Journal||IEEE Transactions on Pattern Analysis and Machine Intelligence|
|State||Published - 2009|
Bibliographical noteFunding Information:
This work has been supported by the US Department of Homeland Security, the ITS Institute at the University of Minnesota, and the US National Science Foundation (through grants IIS-0219863, CNS-0324864, CNS-0420836, IIP-0443945, IIP-0726109, and CNS-0708344).
- 3D localization
- Projectile motion