仅追踪一个点即可精确计算物体旋转速度，无需先验信息。
A Vision-Based Closed-Form Solution for Measuring the Rotation Rate of an Object by Tracking One Point
- 通过跟踪图像中一点，用解析法直接求出物体旋转速率。
- 任意非固定点的跟踪结果一致，误差极小且与物体形状无关。
- 适合实时处理，可自动区分不同刚体，适用于多物体场景。
在正交投影下，当相机固定注视刚体上某一点时，仅需追踪图像中另一特征点，即可解析求得该刚体的瞬时旋转速率。除少数特殊情况外，任意选取的跟踪点（无论位置如何）均能获得相同的旋转速率值。该方法不依赖物体三维形状，也无需场景先验知识。算法支持并行处理，可通过判断旋转速率是否一致实现场景分割，自动识别不属于同一刚体的点。本文给出了严格的解析推导、仿真验证及真实视频数据的结果。
原文摘要 · Abstract (English)
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions, any tracked point, regardless of its location on the body, yields the same value of the instantaneous rotation rate. The proposed method is independent of the shape of the 3D object and does not require a priori knowledge about the scene. This algorithm is suited for parallel processing and can achieve segmentation of the scene by distinguishing points that do not belong to the same rigid body, simply because they do not produce the same value of the rotation. This paper presents an analytical derivation, simulation results, and results from real video data.
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