Solutions and their ambiguities for structure and motion problems

Magnus Oskarsson

Solutions and their ambiguities for structure and motion problems

Matematik LTH

Forskningsoutput: Avhandling › Doktorsavhandling (monografi)

Sammanfattning

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.

Originalspråk	engelska
Kvalifikation	Doktor
Tilldelande institution	Matematik LTH
Handledare	[unknown], [unknown], handledare, Extern person
Tilldelningsdatum	2002 nov. 29
Förlag	Centre for Mathematical Sciences, Lund University
ISBN (tryckt)	91-628-5461-5
Status	Published - 2002

Bibliografisk information

Defence details

Date: 2002-11-29
Time: 15:15
Place: Room C, Matematikcentrum, Lund

External reviewer(s)

Name: Giblin, Peter
Title: Dr
Affiliation: England

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Ämnesklassifikation (UKÄ)

Matematik

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title = "Solutions and their ambiguities for structure and motion problems",

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.",

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N2 - 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.

AB - 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.

KW - surveying

KW - navigation

KW - autonomously guided vehicles

KW - motion

KW - Computer vision

KW - structure

KW - Mathematics

KW - Matematik

M3 - Doctoral Thesis (monograph)

SN - 91-628-5461-5

T3 - Doctoral Theses in Mathematical Sciences

PB - Centre for Mathematical Sciences, Lund University

ER -

Solutions and their ambiguities for structure and motion problems

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Bibliografisk information

Ämnesklassifikation (UKÄ)

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