Three D-Dynamic Scene Analysis : A Stereo Based Approach

By: Olivier Faugeras, Zhengyou Zhang

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Hardcover

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316 Pages

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21.6 x 13.8 x 1.91

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This volume treats the analysis of 3D dynamic scenes using a stereovision system. Several approaches are described, for example two different methods of dealing with long and short sequences of images of an unknown environment, including an arbitrary number of rigid mobile objects. Results obtained from stereovision systems are found to be superior to those from monocular image systems, which are often very sensitive to noise and therefore of little use in practice. It is shown that motion estimation can be further improved by the explicit modelling of uncertainty in geometric objects. The techniques developed in this book have been successfully demonstrated with a large number of real images in the context of visual navigation of a mobile robot.

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Introduction	p. 1
Uncertainty Manipulation and Parameter Estimation	p. 9
Reconstruction of 3D Line Segments	p. 29
Representation of Geometric Objects	p. 39
A Comparative Study of 3D Motion Estimation	p. 55
Matching and Rigidity Constraints	p. 81
Hypothesize-and-Verify Method for Two 3D View Motion Analysis	p. 99
Further Considerations on Reducing Complexity	p. 127
Multiple Object Motions	p. 145
Object Recognition and Localization	p. 159
Calibrating a Mobile Robot and Visual Navigation	p. 169
Fusing Multiple 3D Frames	p. 187
Solving the Motion Tracking Problem: A Framework	p. 205
Modeling and Estimating Motion Kinematics	p. 217
Implementation Details and Experimental Results	p. 239
Conclusions and Perspectives	p. 273
Appendix: Vector Manipulation and Differentiation	p. 277
References	p. 281
Subject Index	p. 297
Table of Contents provided by Blackwell. All Rights Reserved.

Three D-Dynamic Scene Analysis : A Stereo Based Approach

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Hardcover

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