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Solutions and their ambiguities for structure and motion problems

Oskarsson, Magnus LU (2002) In Doctoral Theses in Mathematical Sciences 2002:8.
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 rörelse-problemet. 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 rörelse-problemet för en laserstyrd truck. Den laserstyrda truckens seende kan modelleras av en kamera som tar endimensionella bilder av en tvådimensionell värld.
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 non-linear bundle adjustment. These initial estimates can be found by solving minimal problems, i.e. problems with exactly enough data to constrain a solution. Chapters 3-7 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 non-linear bundle adjustment. These initial estimates can be found by solving minimal problems, i.e. problems with exactly enough data to constrain a solution. Chapters 3-7 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 one-dimensional retinae. A one-dimensional camera takes one-dimensional images of a two- or three-dimensional scene.Chapters 8-11 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 one-dimensional 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)
Please use this url to cite or link to this publication:
author
opponent
  • Dr Giblin, Peter, England
organization
publishing date
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
2002-11-29 15:15
external identifiers
  • other:ISRN: LUTFA-1014-2002
ISSN
1404-0034
ISBN
91-628-5461-5
language
English
LU publication?
yes
id
1ee37127-5344-402e-b5f9-48cd4fe94e96 (old id 20656)
date added to LUP
2007-05-28 10:39:35
date last changed
2016-09-19 08:44:57
@phdthesis{1ee37127-5344-402e-b5f9-48cd4fe94e96,
  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 non-linear bundle adjustment. These initial estimates can be found by solving minimal problems, i.e. problems with exactly enough data to constrain a solution. Chapters 3-7 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 one-dimensional retinae. A one-dimensional camera takes one-dimensional images of a two- or three-dimensional scene.Chapters 8-11 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 one-dimensional 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         = {91-628-5461-5},
  issn         = {1404-0034},
  keyword      = {surveying,navigation,autonomously guided vehicles,motion,Computer vision,structure,Mathematics,Matematik},
  language     = {eng},
  pages        = {176},
  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},
}