TY - CONF T1 - Determining three dimensional transformation parameters from images: Theory T2 - 1987 IEEE International Conference on Robotics and Automation. Proceedings Y1 - 1987 A1 - Ito, E. A1 - Aloimonos, J. KW - Automation KW - Computational modeling KW - Educational institutions KW - Image motion analysis KW - Indium tin oxide KW - Linear systems KW - Motion estimation KW - Optical computing KW - Robots KW - Simulated annealing AB - We present a theory for the determination of the three dimensional transformation parameters of an object, from its images. The input to this process is the image intensity function and its temporal derivative. In particular, our results are: 1) If the structure of the transforming object in view is known, then the transformation parameters are determined from the solution of a linear system. Rigid motion is a special ease of our theory. 2)If the structure of the object in view is not known, then both the structure and transformation parameters may be computed through a hill climbing or simulated annealing algorithm. JA - 1987 IEEE International Conference on Robotics and Automation. Proceedings PB - IEEE VL - 4 M3 - 10.1109/ROBOT.1987.1088011 ER -