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Efficient Structure and Motion: Path Planning, Uncertainty and Sparsity

Haner, Sebastian LU (2012)
Abstract
This thesis explores methods for solving the structure-and-motion problem in computer vision, the recovery of three-dimensional data from a series of two-dimensional image projections. The first paper investigates an alternative state space parametrization for use with the Kalman filter approach to simultaneous localization and mapping, and shows it has superior convergence properties compared with the state-of-the-art. The second paper presents a continuous optimization method for mobile robot path planning, designed to minimize the uncertainty of the geometry reconstructed from images taken by the robot. Similar concepts are applied in the third paper to the problem of sequential 3D reconstruction from unordered image sequences,... (More)
This thesis explores methods for solving the structure-and-motion problem in computer vision, the recovery of three-dimensional data from a series of two-dimensional image projections. The first paper investigates an alternative state space parametrization for use with the Kalman filter approach to simultaneous localization and mapping, and shows it has superior convergence properties compared with the state-of-the-art. The second paper presents a continuous optimization method for mobile robot path planning, designed to minimize the uncertainty of the geometry reconstructed from images taken by the robot. Similar concepts are applied in the third paper to the problem of sequential 3D reconstruction from unordered image sequences, resulting in increased robustness, accuracy and a reduced need for costly bundle adjustment operations. In the final paper, a method for efficient solution of bundle adjustment problems based on a junction tree decomposition is presented, exploiting the sparseness patterns in typical structure-and-motion input data. (Less)
Please use this url to cite or link to this publication:
author
supervisor
organization
publishing date
type
Thesis
publication status
published
subject
pages
88 pages
publisher
Centre of Mathematical Sciences
external identifiers
  • other:LUTFMA-2034-2012
ISBN
978-91-7473-371-6
language
English
LU publication?
yes
id
d7973e55-8882-404a-b954-7e6fceea90ec (old id 4986230)
date added to LUP
2015-02-16 12:36:10
date last changed
2016-09-19 08:44:45
@misc{d7973e55-8882-404a-b954-7e6fceea90ec,
  abstract     = {This thesis explores methods for solving the structure-and-motion problem in computer vision, the recovery of three-dimensional data from a series of two-dimensional image projections. The first paper investigates an alternative state space parametrization for use with the Kalman filter approach to simultaneous localization and mapping, and shows it has superior convergence properties compared with the state-of-the-art. The second paper presents a continuous optimization method for mobile robot path planning, designed to minimize the uncertainty of the geometry reconstructed from images taken by the robot. Similar concepts are applied in the third paper to the problem of sequential 3D reconstruction from unordered image sequences, resulting in increased robustness, accuracy and a reduced need for costly bundle adjustment operations. In the final paper, a method for efficient solution of bundle adjustment problems based on a junction tree decomposition is presented, exploiting the sparseness patterns in typical structure-and-motion input data.},
  author       = {Haner, Sebastian},
  isbn         = {978-91-7473-371-6},
  language     = {eng},
  note         = {Licentiate Thesis},
  pages        = {88},
  publisher    = {Centre of Mathematical Sciences},
  title        = {Efficient Structure and Motion: Path Planning, Uncertainty and Sparsity},
  year         = {2012},
}