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Cognitively Inspired 6D Motion Estimation of a Noncooperative Target Using Monocular RGB-D Images

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Abstract

With the increasing demand of information acquisition in cognitive computation, there has been a growing interest in the study of cognitively inspired computation methods for motion estimation through the use of the vision to obtain more information. Generally, when implementing those methods, it is, however, necessary on occasion to know some prior information of the target complying with some rules. It therefore imposes some obstacles to the application of those approaches. In this paper, a novel cognitively inspired 6D motion estimation method for a noncooperative target is proposed through the use of monocular RGB-D images. We build the 3D model of target first and then estimate the pose of target by solving the perspective-n-point problem. In addition, the Kalman filter is applied to estimate the 6D motion of a target. The target estimated in our method can move with arbitrarily varying velocity on the practically reasonable assumption that those acquired images are not distorted. In our estimation method, priori information of the target and the constraint of target moving velocity are not needed. Simulation and experimental results are provided to demonstrate the effectiveness of our method.

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Acknowledgments

This work is jointly supported by the National Natural Science Foundation of China (Grants Nos. 61174103, 91120011, 61210013, 61272357), the National Key Technologies R&D Program of China (Grant No. 2015BAK38B01), and the Aerospace Science Foundation of China (Grant No. 2014ZA74001). The authors would like to thank the editors and the anonymous reviewers for their constructive comments and suggestions.

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Authors and Affiliations

  1. School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, 100083, People’s Republic of China

    Jie Chen & Xiong Luo

  2. Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, People’s Republic of China

    Huaping Liu & Fuchun Sun

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  1. Jie Chen
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  2. Xiong Luo
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  3. Huaping Liu
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  4. Fuchun Sun
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Correspondence to Xiong Luo.

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Chen, J., Luo, X., Liu, H. et al. Cognitively Inspired 6D Motion Estimation of a Noncooperative Target Using Monocular RGB-D Images. Cogn Comput 8, 105–113 (2016). https://doi.org/10.1007/s12559-015-9345-9

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  • DOI: https://doi.org/10.1007/s12559-015-9345-9

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