Solutions and their ambiguities for structure and motion problems
(2002) In Doctoral Theses in Mathematical Sciences 2002:8. Abstract
 This thesis revolves around the problem of solving the structure and motion problem in computer vision. This is the problem of reconstructing the world, the structure, from images taken by a number of cameras undergoing an unknown motion. Much of the thesis is centred on the problem of finding initial estimates of the structure and the motion using a small set of image data. These initial estimates can then be extended and optimized using nonlinear bundle adjustment. These initial estimates can be found by solving minimal problems, i.e. problems with exactly enough data to constrain a solution. Chapters 37 are devoted to the analysis, classification and solution of minimal structure and motion problems for different types of cameras and... (More)
 This thesis revolves around the problem of solving the structure and motion problem in computer vision. This is the problem of reconstructing the world, the structure, from images taken by a number of cameras undergoing an unknown motion. Much of the thesis is centred on the problem of finding initial estimates of the structure and the motion using a small set of image data. These initial estimates can then be extended and optimized using nonlinear bundle adjustment. These initial estimates can be found by solving minimal problems, i.e. problems with exactly enough data to constrain a solution. Chapters 37 are devoted to the analysis, classification and solution of minimal structure and motion problems for different types of cameras and different types of image features. The aim is to classify and solve all possible structure and motion problems.Large parts of the thesis concerns vision based on cameras with onedimensional retinae. A onedimensional camera takes onedimensional images of a two or threedimensional scene.Chapters 811 describe research and development of an automatic system for structure and motion estimation for a laser guided vehicle. The imaging system of a laser guided vehicle can be modelled by a onedimensional camera. Chapter 9 and 10 covers the problem of automatic geometric reasoning which is an essential part of making the system described in chapter 11 more robust. (Less)
 Abstract (Swedish)
 Popular Abstract in Swedish
Ett centralt problem inom området datorseende är att utifrån bara ett antal bilder av föremål, återskapa formen av föremålet som avbildats. Samtidigt vill man även återskapa hur kameran rört sig mellan de olika bilderna tagits. Detta är det så kallade struktur och rörelseproblemet. I avhandlingen löses detta problem för olika typer av kameror samt olika typer av objekt som avbildas. I avhandlingen beskrivs även ett fullt automatiskt system för att lösa struktur och rörelseproblemet för en laserstyrd truck. Den laserstyrda truckens seende kan modelleras av en kamera som tar endimensionella bilder av en tvådimensionell värld.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/20656
 author
 Oskarsson, Magnus ^{LU}
 supervisor
 opponent

 Dr Giblin, Peter, England
 organization
 publishing date
 2002
 type
 Thesis
 publication status
 published
 subject
 keywords
 surveying, navigation, autonomously guided vehicles, motion, Computer vision, structure, Mathematics, Matematik
 in
 Doctoral Theses in Mathematical Sciences
 volume
 2002:8
 pages
 176 pages
 publisher
 Centre for Mathematical Sciences, Lund University
 defense location
 Room C, Matematikcentrum, Lund
 defense date
 20021129 15:15:00
 external identifiers

 other:ISRN: LUTFA10142002
 ISSN
 14040034
 ISBN
 9162854615
 language
 English
 LU publication?
 yes
 id
 1ee371275344402eb5f948cd4fe94e96 (old id 20656)
 date added to LUP
 20160401 16:34:58
 date last changed
 20211117 02:20:13
@phdthesis{1ee371275344402eb5f948cd4fe94e96, abstract = {{This thesis revolves around the problem of solving the structure and motion problem in computer vision. This is the problem of reconstructing the world, the structure, from images taken by a number of cameras undergoing an unknown motion. Much of the thesis is centred on the problem of finding initial estimates of the structure and the motion using a small set of image data. These initial estimates can then be extended and optimized using nonlinear bundle adjustment. These initial estimates can be found by solving minimal problems, i.e. problems with exactly enough data to constrain a solution. Chapters 37 are devoted to the analysis, classification and solution of minimal structure and motion problems for different types of cameras and different types of image features. The aim is to classify and solve all possible structure and motion problems.Large parts of the thesis concerns vision based on cameras with onedimensional retinae. A onedimensional camera takes onedimensional images of a two or threedimensional scene.Chapters 811 describe research and development of an automatic system for structure and motion estimation for a laser guided vehicle. The imaging system of a laser guided vehicle can be modelled by a onedimensional camera. Chapter 9 and 10 covers the problem of automatic geometric reasoning which is an essential part of making the system described in chapter 11 more robust.}}, author = {{Oskarsson, Magnus}}, isbn = {{9162854615}}, issn = {{14040034}}, keywords = {{surveying; navigation; autonomously guided vehicles; motion; Computer vision; structure; Mathematics; Matematik}}, language = {{eng}}, publisher = {{Centre for Mathematical Sciences, Lund University}}, school = {{Lund University}}, series = {{Doctoral Theses in Mathematical Sciences}}, title = {{Solutions and their ambiguities for structure and motion problems}}, volume = {{2002:8}}, year = {{2002}}, }