Estimating Rigid 3D Motion by Stereo Fixation of Vertices

In this paper 3D motion estimation using an active stereo vision paradigm is addressed. The objective is to measure camera rotations of a stereo head to estimate the 3D motion of a single moving object in a scene. The method uses stereo camera fixation of junctions. The vertex of a junction is selected as the fixation point. Vertex position and junction orientations are recovered in the fixated views and used with known camera motion to estimate 3D rigid object motion. Experiments are reported for real data and promising results are obtained.