Epipolar geometry in stereo, motion and object recognition: a unified approach
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | German |
| Published: |
Dordrecht [u.a.]
Kluwer
1996
|
| Series: | Computational imaging and vision
6 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XIX, 313 S. graph. Darst. |
| ISBN: | 0792341996 |
Staff View
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| 245 | 1 | 0 | |a Epipolar geometry in stereo, motion and object recognition |b a unified approach |c by Gang Xu and Zhengyou Zhang |
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Record in the Search Index
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| adam_text | EPIPOLAR GEOMETRY IN STEREO, MOTION AND OBJECT RECOGNITION A UNIFIED
APPROACH BY GANGXU DEPARTMENT OF COMPUTER SCIENCE, RITSUMEIKAN
UNIVERSITY, KUSATSU, JAPAN AND ZHENGYOU ZHANG INRIA SOPHIA-ANTIPOLIS,
SOPHIA-ANTIPOLIS, FRANCE KLUWER ACADEMIC PUBLISHERS DORDRECHT / BOSTON /
LONDON CONTENTS FORWARD BY OLIVIER FAUGERAS XIII FORWARD BY SABURO TSUJI
XV PREFACE XVII 1 INTRODUCTION L 1.1 VISION RESEARCH 1 1.2 MULTIPLE VIEW
PROBLEMS IN VISION 2 1.3 ORGANIZATION OF THIS BOOK 4 1.4 NOTATION 5 2
CAMERA MODELS AND EPIPOLAR GEOMETRY 7 2.1 MODELING CAMERAS 7 2.-1.1
PINHOLE CAMERA AND PERSPECTIVE PROJECTION 7 2.1.2 PERSPECTIVE PROJECTION
MATRIX AND EXTRINSIC PARAMETERS 10 2.1.3 INTRINSIC PARAMETERS AND
NORMALIZED CAMERA 12 2.1.4 THE GENERAL FORM OF PERSPECTIVE PROJECTION
MATRIX 14 2.2 PERSPECTIVE APPROXIMATIONS 16 2.2.1 ORTHOGRAPHIC AND WEAK
PERSPECTIVE PROJECTIONS 17 2.2.2 PARAPERSPECTIVE PROJECTION 20 2.2.3
AFFINE CAMERAS 24 2.3 EPIPOLAR GEOMETRY UNDER FULL PERSPECTIVE
PROJECTION 26 2.3.1 CONCEPTS IN EPIPOLAR GEOMETRY 26 2.3.2 WORKING WITH
NORMALIZED IMAGE COORDINATES 29 VN VIII EPIPOLAR GEOMETRY 2.3.3 WORKING
WITH PIXEL IMAGE COORDINATES 33 2.3.4 WORKING WITH CAMERA PERSPECTIVE
PROJECTION MATRICES 37 2.3.5 FUNDAMENTAL MATRIX AND EPIPOLAR
TRANSFORMATION 39 2.4 A GENERAL FORM OF EPIPOLAR EQUATION FOR ANY
PROJECTION MODEL 42 2.4.1 INTERSECTING TWO OPTICAL RAYS 42 2.4.2 THE
FULL PERSPECTIVE PROJECTION CASE 45 2.5 EPIPOLAR GEOMETRY UNDER
ORTHOGRAPHIC, WEAK PERSPECTIVE, PARAPERSPECTIVE AND GENERAL AFHNE
PROJECTIONS 46 2.5.1 ORTHOGRAPHIC AND WEAK PERSPECTIVE PROJECTIONS 47
2.5.2 PARAPERSPECTIVE PROJECTION 56 2.5.3 THE GENERAL AFFINE CAMERA 61
2.6 EPIPOLAR GEOMETRY BETWEEN TWO IMAGES WITH LENS DISTORTION 65 2.6.1
CAMERA DISTORTION MODELLING 66 2.6.2 COMPUTATING DISTORTED COORDINATES
FROM IDEAL ONES 68 2.6.3 EPIPOLAR CONSTRAINT BETWEEN TWO IMAGES WITH
DISTORTION 69 2.7 SUMMARY 70 2.A APPENDIX 71 2.A.I THIN AND THICK LENS
CAMERA MODELS 71 2.A.2 INVERSE AND PSEUDOINVERSE MATRICES 75 RECOVERY OF
EPIPOLAR GEOMETRY FROM POINTS 79 3.1 DETERMINING FUNDAMENTAL MATRIX
UNDER FULL PERSPECTIVE PROJECTION 79 3.1.1 EXACT SOLUTION WITH 7 POINT
MATCHES 81 3.1.2 ANALYTIC METHOD WITH 8 OR MORE POINT MATCHES 81 3.1.3
ANALYTIC METHOD WITH RANK-2 CONSTRAINT 87 3.1.4 NONLINEAR METHOD
MINIMIZING DISTANCES OF POINTS TO EPIPOLAR LINES 88 3.1.5 NONLINEAR
METHOD MINIMIZING DISTANCES BETWEEN OBSERVATION AND REPROJECTION 91
3.1.6 ROBUST METHODS 93 CONTENTS IX 3.1.7 CHARACTERIZING THE UNCERTAINTY
OF FUNDAMENTAL MATRIX 106 3.1.8 AN EXAMPLE OF FUNDAMENTAL MATRIX
ESTIMATION 111 3.1.9 DENNING EPIPOLAR BANDS BY USING THE ESTIMATED
UNCERTAINTY 117 3.2 DETERMINING FUNDAMENTAL MATRIX FOR AFFINE CAMERAS
120 3.2.1 EXACT SOLUTION WITH 4 POINT MATCHES 121 3.2.2 ANALYTIC METHOD
WITH MORE THAN 4 POINT MATCHES 121 3.2.3 MINIMIZING DISTANCES OF POINTS
TO EPIPOLAR LINES 126 3.2.4 MINIMIZING DISTANCES BETWEEN OBSERVATION AND
REPROJECTION 127 3.2.5 AN EXAMPLE OF AFFINE FUNDAMENTAL MATRIX
ESTIMATION 129 3.2.6 CHARACTERING THE UNCERTAINTY OF AFFINE FUNDAMENTAL
MATRIX 131 3.2.7 DETERMINING MOTION EQUATION IN THE 2D AFFINE MOTION
CASE 133 3.3 RECOVERY OF MULTIPLE EPIPOLAR EQUATIONS BY CLUSTERING 136
3.3.1 THE PROBLEM IN STEREO, MOTION AND OBJECT RECOGNITION 137 3.3.2
DEFINITIONS AND ASSUMPTIONS 138 3.3.3 ERROR ANALYSIS OF MOTION
PARAMETERS 139 3.3.4 ESTIMATING COVARIANCE MATRIX 141 3.3.5 THE MAXIMAL
LIKELIHOOD APPROACH 142 3.3.6 ROBUST ESTIMATION USING EXPONENTIAL OF
GAUSSIAN DISTRIBUTION 145 3.3.7 A CLUSTERING ALGORITHM 147 3.3.8 AN
EXAMPLE OF CLUSTERING 148 3.4 PROJECTIVE RECONSTRUCTION 149 3.4.1
PROJECTIVE STRUCTURE FROM TWO UNCALIBRATED IMAGES 149 3.4.2 COMPUTING
CAMERA PROJECTION MATRICES 151 3.4.3 RECONSTRUCTION TECHNIQUES 153 3.4.4
USE OF PROJECTIVE STRUCTURE 155 3.5 AFFINE RECONSTRUCTION 156 3.5.1
AFFINE STRUCTURE FROM TWO UNCALIBRATED AFFINE VIEWS 156 3.5.2 RELATION
TO PREVIOUS WORK 159 3.5.3 EXPERIMENTAL RESULTS 159 EPIPOLAR GEOMETRY
3.6 SUMMARY 161 3.A APPENDIX 164 3.A.1 APPROXIMATE ESTIMATION OF
FUNDAMENTAL MATRIX FROM GENERAL MATRIX 164 3.A.2 ESTIMATION OF AFFINE
TRANSFORMATION 165 RECOVERY OF EPIPOLAR GEOMETRY FROM LINE SEGMENTS OR
LINES 167 4.1 LINE SEGMENTS OR STRAIGHT LINES 168 4.2 SOLVING MOTION
USING LINE SEGMENTS BETWEEN TWO VIEWS 173 4.2.1 OVERLAP OF TWO
CORRESPONDING LINE SEGMENTS 173 4.2.2 ESTIMATING MOTION BY MAXIMIZING
OVERLAP 175 4.2.3 IMPLEMENTATION DETAILS 176 4.2.4 RECONSTRUCTING 3D
LINE SEGMENTS 179 4.2.5 EXPERIMENTAL RESULTS 180 4.2.6 DISCUSSIONS 192
4.3 DETERMINING EPIPOLAR GEOMETRY OF THREE VIEWS 194 4.3.1 TRIFOCAL
CONSTRAINTS FOR POINT MATCHES 194 4.3.2 TRIFOCAL CONSTRAINTS FOR LINE
CORRESPONDENCES 199 4.3.3 LINEAR ESTIMATION OF K, L, AND M USING POINTS
AND LINES 200 4.3.4 DETERMINING CAMERA PROJECTION MATRICES 201 4.3.5
IMAGE TRANSFER 203 4.4 SUMMARY 204 REDEFINING STEREO, MOTION AND OBJECT
RECOGNITION VIA EPIPOLAR GEOMETRY 205 5.1 CONVENTIONAL APPROACHES TO
STEREO, MOTION AND OBJECT RECOGNITION 205 5.1.1 STEREO 205 5.1.2 MOTION
206 5.1.3 OBJECT RECOGNITION 207 5.2 CORRESPONDENCE IN STEREO, MOTION
AND OBJECT RECOGNITION AS ID SEARCH 209 5.2.1 STEREO MATCHING 209
CONTENTS XI 5.2.2 MOTION CORRESPONDENCE AND SEGMENTATION 209 5.2.3 3D
OBJECT RECOGNITION AND LOCALIZATION 210 5.3 DISPARITY AND SPATIAL
DISPARITY SPACE 210 5.3.1 DISPARITY UNDER FULL PERSPECTIVE PROJECTION IN
THE PARALLEL CAMERA CASE 211 5.3.2 DISPARITY UNDER FULL PERSPECTIVE
PROJECTION IN THE GENERAL CASE 211 5.3.3 DISPARITY UNDER WEAK
PERSPECTIVE AND PARAPERSPECTIVE PROJECTIONS 214 5.3.4 SPATIAL DISPARITY
SPACE AND SMOOTHNESS 215 5.3.5 CORRESPONDENCE AS SEARCH FOR SURFACES AND
CONTOURS IN SDS 218 5.4 SUMMARY 219 6 IMAGE MATCHING AND UNCALIBRATED
STEREO 221 6.1 FINDING MATCH CANDIDATES BY CORRELATION 223 6.1.1
EXTRACTING POINTS OF INTEREST 223 6.1.2 MATCHING THROUGH CORRELATION 224
6.1.3 ROTATING CORRELATION WINDOWS 225 6.2 UNIQUE CORRESPONDENCE BY
RELAXATION AND ROBUST ESTIMA- TION OF EPIPOLAR GEOMETRY FOR PERSPECTIVE
IMAGES 227 6.2.1 MEASURE OF THE SUPPORT FOR A MATCH CANDIDATE 228 6.2.2
RELAXATION PROCESS 230 6.2.3 DETECTION OF FALSE MATCHES 232 6.3 UNIQUE
CORRESPONDENCE BY ROBUST ESTIMATION OF EPIPOLAR GEOMETRY FOR AFFINE
IMAGES 233 6.3.1 DISCARDING UNLIKELY MATCH CANDIDATES 233 6.3.2
GENERATING LOCAL GROUPS OF POINT MATCHES FOR CLUSTERING 234 6.4 IMAGE
MATCHING WITH THE RECOVERED EPIPOLAR GEOMETRY 235 6.4.1 A SIMPLE
IMPLEMENTATION FOR MATCHING CORNERS 236 6.4.2 A SIMPLE IMPLEMENTATION
FOR MATCHING EDGES 236 6.5 AN EXAMPLE OF MATCHING UNCALIBRATED
PERSPECTIVE IMAGES 237 6.6 AN EXAMPLE OF MATCHING UNCALIBRATED AFFINE
IMAGES 241 6.7 SUMMARY 243 XII EPIPOLAR GEOMETRY 7 MULTIPLE RIGID
MOTIONS: CORRESPONDENCE AND SEGMENTATION 247 7.1 PROBLEMS OF MULTIPLE
RIGID MOTIONS 247 7.2 DETERMINING EPIPOLAR EQUATIONS FOR MULTIPLE RIGID
MOTIONS 249 7.2.1 THE ALGORITHM 249 7.2.2 EXPERIMENTAL RESULTS 250 7.3
MATCHING AND SEGMENTING EDGE IMAGES WITH KNOWN EPIPOLAR EQUATIONS 253
7.3.1 REPRESENTING THE PROBLEM IN ESDS 253 7.3.2 A SUPPORT MEASURE FOR
SELECTION FROM MULTIPLE CANDIDATES 255 7.3.3 EXPERIMENTAL RESULTS 256
7.4 TRANSPARENT MULTIPLE RIGID MOTIONS 258 7.5 SUMMARY AND DISCUSSIONS
260 7.6 APPENDIX: SVD ALGORITHM FOR STRUCTURE AND MOTION RE- COVERY WITH
KNOWN EPIPOLAR EQUATIONS 263 8 3D OBJECT RECOGNITION AND LOCALIZATION
269 8.1 INTRODUCTION: 3D MODEL VS 2D MODEL, AND SINGLE MODEL VIEW VS.
MULTIPLE MODEL VIEWS 269 8.2 RECOGNITION AND LOCALIZATION WITH SINGLE
MODEL VIEW WITH MODEL VIEWS 271 8.2.1 IS A SINGLE VIEW SUFFICIENT FOR 3D
OBJECT RECOGNITION? 271 8.2.2 MATCHING MODEL VIEW WITH INPUT VIEW AS
UNCALIBRATED STEREO IMAGES 272 8.2.3 AN EXAMPLE 273 8.3 RECOGNITION AND
LOCALIZATION WITH MULTIPLE MODEL VIEWS 278 8.3.1 INTERSECTION OF
EPIPOLAR LINES 279 8.3.2 BASIS VECTORS 279 8.3.3 DETERMINING
COEFFICIENTS 282 8.3.4 AN EXAMPLE 286 8.4 SUMMARY 287 9 CONCLUDING
REMARKS 291 REFERENCES 293 INDEX 309
|
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| id | DE-604.BV011027695 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T18:02:49Z |
| institution | BVB |
| isbn | 0792341996 |
| language | German |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-007383588 |
| oclc_num | 35043563 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM DE-29T DE-83 DE-11 |
| owner_facet | DE-91G DE-BY-TUM DE-29T DE-83 DE-11 |
| physical | XIX, 313 S. graph. Darst. |
| publishDate | 1996 |
| publishDateSearch | 1996 |
| publishDateSort | 1996 |
| publisher | Kluwer |
| record_format | marc |
| series | Computational imaging and vision |
| series2 | Computational imaging and vision |
| spelling | Xu, Gang Verfasser aut Epipolar geometry in stereo, motion and object recognition a unified approach by Gang Xu and Zhengyou Zhang Dordrecht [u.a.] Kluwer 1996 XIX, 313 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Computational imaging and vision 6 Géométrie - Informatique ram Reconnaissance des formes (informatique) ram Traitement d'images ram Vision par ordinateur ram géométrie épipolaire inriac localisation inriac mouvement inriac reconnaissance objet inriac stéréovision inriac Computer vision Image processing Digital techniques Three-dimensional imaging Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd rswk-swf Dreidimensionales maschinelles Sehen (DE-588)4137757-6 s DE-604 Zhang, Zhengyou Verfasser aut Computational imaging and vision 6 (DE-604)BV010119097 6 GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007383588&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Xu, Gang Zhang, Zhengyou Epipolar geometry in stereo, motion and object recognition a unified approach Computational imaging and vision Géométrie - Informatique ram Reconnaissance des formes (informatique) ram Traitement d'images ram Vision par ordinateur ram géométrie épipolaire inriac localisation inriac mouvement inriac reconnaissance objet inriac stéréovision inriac Computer vision Image processing Digital techniques Three-dimensional imaging Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd |
| subject_GND | (DE-588)4137757-6 |
| title | Epipolar geometry in stereo, motion and object recognition a unified approach |
| title_auth | Epipolar geometry in stereo, motion and object recognition a unified approach |
| title_exact_search | Epipolar geometry in stereo, motion and object recognition a unified approach |
| title_full | Epipolar geometry in stereo, motion and object recognition a unified approach by Gang Xu and Zhengyou Zhang |
| title_fullStr | Epipolar geometry in stereo, motion and object recognition a unified approach by Gang Xu and Zhengyou Zhang |
| title_full_unstemmed | Epipolar geometry in stereo, motion and object recognition a unified approach by Gang Xu and Zhengyou Zhang |
| title_short | Epipolar geometry in stereo, motion and object recognition |
| title_sort | epipolar geometry in stereo motion and object recognition a unified approach |
| title_sub | a unified approach |
| topic | Géométrie - Informatique ram Reconnaissance des formes (informatique) ram Traitement d'images ram Vision par ordinateur ram géométrie épipolaire inriac localisation inriac mouvement inriac reconnaissance objet inriac stéréovision inriac Computer vision Image processing Digital techniques Three-dimensional imaging Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd |
| topic_facet | Géométrie - Informatique Reconnaissance des formes (informatique) Traitement d'images Vision par ordinateur géométrie épipolaire localisation mouvement reconnaissance objet stéréovision Computer vision Image processing Digital techniques Three-dimensional imaging Dreidimensionales maschinelles Sehen |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007383588&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV010119097 |
| work_keys_str_mv | AT xugang epipolargeometryinstereomotionandobjectrecognitionaunifiedapproach AT zhangzhengyou epipolargeometryinstereomotionandobjectrecognitionaunifiedapproach |