Abstract. This paper presents an optimization framework for estimating the motion and underlying physical parameters of a rigid body in free flight from video. The algorithm takes a video clip of a tumbling rigid body of known shape and generates a physical simulation of the object observed in the video clip. This solution is found by optimizing the simulation parameters to best match the motion observed in the video sequence. These simulation parameters include initial positions and velocities, environment parameters like gravity direction and parameters of the camera. A global objective function computes the sum squared difference between the silhouette of the object in simulation and the silhouette obtained from video at each frame. Applications include creating interesting rigid body animations, tracking complex rigid body motions in video and estimating camera parameters from video. Fig. 1 . Four frames of a tumbling object superimposed (left) and a physical simulation generated from the estimated motion parameters. The object is thrown from right to left. Our optimization framework computes the object, camera and environment parameters to match the simulated wireframe object with the video at every frame.
Bhat et al. REF present a framework for computing the physical parameters underlying the motion of a tumbling rigid object in free flight.
Computing the Physical Parameters of Rigid-body Motion from Video
ICRA
Computer Science