Parameter estimation of unknown rigid objects moving freely in non-gravity field by stereo vision

In this paper, we discuss the estimation method of physical parameters of an unknown rigid object which moves freely in nongravity field by using stereo vision. The physical parameters cannot be estimated by only observing the change of the position and orientation of the object. A known object is shot to the unknown target object, then the collision happens. The collision changes the movement of unknown and known objects. The physical parameter estimation method, based on the image data of two objects before and after the collision, is proposed. The effectiveness of the proposed method is evaluated by computer simulations