Multiple view geometry in computer vision:
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Cambridge [u.a.]
Cambridge Univ. Press
2013
|
| Ausgabe: | 2. ed., 10. print. |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis Klappentext |
| Beschreibung: | Hier auch später erschienene, unveränderte Nachdrucke Literaturverz. S. 634 - 645 |
| Beschreibung: | XVI, 655 S. Ill., graph. Darst. |
| ISBN: | 9780521540513 |
Internformat
MARC
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| 100 | 1 | |a Hartley, Richard |d 1948- |e Verfasser |0 (DE-588)138086672 |4 aut | |
| 245 | 1 | 0 | |a Multiple view geometry in computer vision |c Richard Hartley ; Andrew Zisserman |
| 250 | |a 2. ed., 10. print. | ||
| 264 | 1 | |a Cambridge [u.a.] |b Cambridge Univ. Press |c 2013 | |
| 300 | |a XVI, 655 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 500 | |a Hier auch später erschienene, unveränderte Nachdrucke | ||
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Datensatz im Suchindex
| _version_ | 1804150632688386048 |
|---|---|
| adam_text | Contents
Foreword page
xi
Preface
xiii
1
Introduction
-
a Tour of Multiple View Geometry
1
1.1
Introduction
-
the ubiquitous
projective
geometry
1
1.2
Camera projections
6
1.3
Reconstruction from more than one view
10
1.4
Three-view geometry
12
1.5
Four view geometry and n-view reconstruction
13
1.6
Transfer
14
1.7
Euclidean reconstruction
16
1.8
Auto-calibration
17
1.9
The reward 1
: 3D
graphical models
18
1.10
The reward II
:
video augmentation
19
PART
0:
The Background:
Projective
Geometry, Transformations and Esti¬
mation
23
Outline
24
2
Projective
Geometry and Transformations of 2D
25
2.1
Planar geometry
25
2.2
The 2D
projective
plane
26
2.3
Projective
transformations
32
2.4
A hierarchy of transformations
37
2.5
The
projective
geometry of ID
44
2.6
Topology of the
projective
plane
46
2.7
Recovery of
affine
and metric properties from images
47
2.8
More properties of conies
58
2.9
Fixed points and lines
61
2.10
Closure
62
3
Projective
Geometry and Transformations of
3D 65
3.1
Points and
projective
transformations
65
3.2
Representing and transforming planes, lines and quadrics
66
vi
Contents
3.3
Twisted cubics
75
3.4
The hierarchy of transformations
77
3.5
The plane at infinity
79
3.6
The absolute conic
81
3.7
The absolute dual quadric
83
3.8
Closure
85
4
Estimation
-
2D Projective Transformations
87
4.1
The Direct Linear Transformation (DLT) algorithm
88
4.2
Different cost functions
93
4.3
Statistical cost functions and Maximum Likelihood estimation
102
4.4
Transformation
invariance
and normalization
104
4.5
Iterative minimization methods
110
4.6
Experimental comparison of the algorithms
115
4.7
Robust estimation
116
4.8
Automatic computation of a homography
123
4.9
Closure
127
5
Algorithm Evaluation and Error Analysis
132
5.1
Bounds on performance
132
5.2
Covariance of the estimated transformation
138
5.3
Monte Carlo estimation of covariance
149
5.4
Closure
150
PART I: Camera Geometry and Single View Geometry
151
Outline
152
153
153
158
166
174
176
178
178
180
184
189
193
8
More Single View Geometry
195
8.1
Action of a projective camera on planes, lines, and conies
195
8.2
Images of smooth surfaces
200
8.3
Action of a projective camera on quadrics
201
8.4
The importance of the camera centre
202
8.5
Camera calibration and the image of the absolute conic
208
Camera Models
6.1
Finite cameras
6.2
The projective camera
6.3
Cameras at infinity
6.4
Other camera models
6.5
Closure
Computation of the Camera Matrix
Ρ
7.1
Basic equations
7.2
Geometric error
7.3
Restricted camera estimation
7.4
Radial distortion
7.5
Closure
Contents
vii
8.6
Vanishing points and vanishing lines
213
8.7
Affine
3D
measurements and reconstruction
220
8.8
Determining camera calibration
К
from a single view
223
8.9
Single view reconstruction
229
8.10
The calibrating conic
231
8.11
Closure
233
PART II: Two-View Geometry
237
Outline
238
9 Epipolar
Geometry and the Fundamental Matrix
239
9.1 Epipolar
geometry
239
9.2
The fundamental matrix
F
241
9.3
Fundamental matrices arising from special motions
247
9.4
Geometric representation of the fundamental matrix
250
9.5
Retrieving the camera matrices
253
9.6
The essential matrix
257
9.7
Closure
259
10 3D
Reconstruction of Cameras and Structure
262
10.1
Outline of reconstruction method
262
10.2
Reconstruction ambiguity
264
10.3
The
projective
reconstruction theorem
266
10.4
Stratified reconstruction
267
10.5
Direct reconstruction
-
using ground truth
275
10.6
Closure
276
11
Computation of the Fundamental Matrix
F
279
11.1
Basic equations
279
11.2
The normalized 8-point algorithm
281
11.3
The algebraic minimization algorithm
282
11.4
Geometric distance
284
11.5
Experimental evaluation of the algorithms
288
11.6
Automatic computation of
F
290
11.7
Special cases of F-computation
293
11.8
Correspondence of other entities
294
11.9
Degeneracies
295
11.10
A geometric interpretation of F-computation
297
11.11
The envelope of
epipolar
lines
298
11.12
Image rectification
302
11.13
Closure
308
12
Structure Computation
310
12.1
Problem statement
310
12.2
Linear
triangulation
methods
312
12.3
Geometric error cost function
313
12.4
Sampson approximation (first-order geometric correction)
314
viii Contents
12.5
An optimal
solution
315
12.6
Probability
distribution
of the estimated
3D
point
321
12.7
Line reconstruction
321
12.8
Closure
323
13
Scene planes and
homographies
325
13.1
Homographies
given the plane and vice versa
326
13.2
Plane induced
homographies
given
F
and image correspondences
329
13.3
Computing
F
given the homography induced by a plane
334
13.4
The infinite homography Hoo
338
13.5
Closure
340
14
Affine
Epipolar
Geometry
344
14.1 Affine epipolar
geometry
344
14.2
The
affine
fundamental matrix
345
14.3
Estimating FA from image point correspondences
347
14.4 Triangulation 353
14.5 Affine
reconstruction
353
14.6 Necker
reversal and the bas-relief ambiguity
355
14.7
Computing the motion
357
14.8
Closure
360
PART III: Three-View Geometry
363
Outline
364
15
The Trifocal Tensor
365
15.1
The geometric basis for the trifocal tensor
365
15.2
The trifocal tensor and tensor notation
376
15.3
Transfer
379
15.4
The fundamental matrices for three views
383
15.5
Closure
387
16
Computation of the Trifocal Tensor
Τ
391
16.1
Basic equations
391
16.2
The normalized linear algorithm
393
16.3
The algebraic minimization algorithm
395
16.4
Geometric distance
396
16.5
Experimental evaluation of the algorithms
399
16.6
Automatic computation of
Τ
400
16.7
Special cases of T-computation
404
16.8
Closure
406
PART IV: N-View Geometry
409
Outline
410
17
JV-Linearities and Multiple View Tensors
411
17.1
Bilinear relations
411
17.2
Trilinear relations
414
Contents ix
17.3 Quadrilinear
relations
418
17.4
Intersections
of four
planes 421
17.5
Counting arguments
422
17.6
Number of independent equations
428
17.7
Choosing equations
431
17.8
Closure
432
18
iV-View Computational Methods
434
18.1
Projective
reconstruction
-
bundle adjustment
434
18.2 Affine
reconstruction
-
the factorization algorithm
436
18.3
Non-rigid factorization
440
18.4
Projective
factorization
444
18.5
Projective
reconstruction using planes
447
18.6
Reconstruction from sequences
452
18.7
Closure
456
19
Auto-Calibration
458
19.1
Introduction
458
19.2
Algebraic framework and problem statement
459
19.3
Calibration using the absolute dual quadric
462
19.4
The
Kruppa
equations
469
19.5
A stratified solution
473
19.6
Calibration from rotating cameras
481
19.7
Auto-calibration from planes
485
19.8
Planar motion
486
19.9
Single axis rotation
-
turntable motion
490
19.10
Auto-calibration of a stereo rig
493
19.11
Closure
497
20
Duality
502
20.1
Carlsson-
Weinshall
duality
502
20.2
Reduced reconstruction
508
20.3
Closure
513
21
Cheirality
515
21.1
Quasi-
affine
transformations
515
21.2
Front and back of a camera
518
21.3
Three-dimensional point sets
519
21.4
Obtaining a quasi-affine reconstruction
520
21.5
Effect of transformations on cheirality
521
21.6
Orientation
523
21.7
The
cheirai
inequalities
525
21.8
Which points are visible in a third view
528
21.9
Which points are in front of which
530
21.10
Closure
531
χ
Contents
22
Degenerate
Configurations
533
22
Л
Camera resectioning
533
22.2
Degeneracies in two views
539
22.3
Carlsson-Weinshall duality
546
22.4
Three-view critical configurations
553
22.5
Closure
558
PART V
:
Appendices
561
Appendix
1
Tensor Notation
562
Appendix
2
Gaussian (Normal) and
χ2
Distributions
565
Appendix
3
Parameter Estimation
568
Appendix
4
Matrix Properties and Decompositions
578
Appendix
5
Least-squares Minimization
588
Appendix
6
Iterative Estimation Methods
597
Appendix
7
Some Special Plane
Projective
Transformations
628
Bibliography
634
Index
646
A basic problem in computer vision is to reconstruct a
real world scene given several images of it. Techniques
for solving this problem are taken from
projective
geometry and
photogram
metry.
Here, the authors cover
the geometric principles and their algebraic representa¬
tion in terms of camera projection matrices, the funda¬
mental matrix and the trifocal tensor. The theory and
methods of computation of these entities are discussed
with real examples, as is their use and the reconstruction
of scenes from multiple ¡mages. The new edition fea¬
tures an extended introduction covering the key ideas in
the book (which itself has been updated with additional
examples and appendices) and significant new results
that have appeared since the first edition.
Comprehensive background material is provided, so a
reader familiar with linear algebra and basic numerical
methods can understand the
projective
geometry and
estimation algorithms presented, and implement the
algorithms directly from the book.
|
| any_adam_object | 1 |
| author | Hartley, Richard 1948- Zisserman, Andrew 1957- |
| author_GND | (DE-588)138086672 (DE-588)138087938 |
| author_facet | Hartley, Richard 1948- Zisserman, Andrew 1957- |
| author_role | aut aut |
| author_sort | Hartley, Richard 1948- |
| author_variant | r h rh a z az |
| building | Verbundindex |
| bvnumber | BV041204396 |
| classification_rvk | ST 330 |
| classification_tum | DAT 760f |
| ctrlnum | (OCoLC)856868057 (DE-599)BVBBV041204396 |
| discipline | Informatik |
| edition | 2. ed., 10. print. |
| format | Book |
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| id | DE-604.BV041204396 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T00:42:01Z |
| institution | BVB |
| isbn | 9780521540513 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-026179214 |
| oclc_num | 856868057 |
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| physical | XVI, 655 S. Ill., graph. Darst. |
| publishDate | 2013 |
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| publisher | Cambridge Univ. Press |
| record_format | marc |
| spelling | Hartley, Richard 1948- Verfasser (DE-588)138086672 aut Multiple view geometry in computer vision Richard Hartley ; Andrew Zisserman 2. ed., 10. print. Cambridge [u.a.] Cambridge Univ. Press 2013 XVI, 655 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Hier auch später erschienene, unveränderte Nachdrucke Literaturverz. S. 634 - 645 Maschinelles Sehen (DE-588)4129594-8 gnd rswk-swf Projektive Geometrie (DE-588)4047436-7 gnd rswk-swf Geometrie (DE-588)4020236-7 gnd rswk-swf Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd rswk-swf Bildverarbeitung (DE-588)4006684-8 gnd rswk-swf Maschinelles Sehen (DE-588)4129594-8 s Bildverarbeitung (DE-588)4006684-8 s Geometrie (DE-588)4020236-7 s DE-604 Dreidimensionales maschinelles Sehen (DE-588)4137757-6 s Projektive Geometrie (DE-588)4047436-7 s Zisserman, Andrew 1957- Verfasser (DE-588)138087938 aut Digitalisierung UB Passau - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026179214&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis Digitalisierung UB Passau - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026179214&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA Klappentext |
| spellingShingle | Hartley, Richard 1948- Zisserman, Andrew 1957- Multiple view geometry in computer vision Maschinelles Sehen (DE-588)4129594-8 gnd Projektive Geometrie (DE-588)4047436-7 gnd Geometrie (DE-588)4020236-7 gnd Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd Bildverarbeitung (DE-588)4006684-8 gnd |
| subject_GND | (DE-588)4129594-8 (DE-588)4047436-7 (DE-588)4020236-7 (DE-588)4137757-6 (DE-588)4006684-8 |
| title | Multiple view geometry in computer vision |
| title_auth | Multiple view geometry in computer vision |
| title_exact_search | Multiple view geometry in computer vision |
| title_full | Multiple view geometry in computer vision Richard Hartley ; Andrew Zisserman |
| title_fullStr | Multiple view geometry in computer vision Richard Hartley ; Andrew Zisserman |
| title_full_unstemmed | Multiple view geometry in computer vision Richard Hartley ; Andrew Zisserman |
| title_short | Multiple view geometry in computer vision |
| title_sort | multiple view geometry in computer vision |
| topic | Maschinelles Sehen (DE-588)4129594-8 gnd Projektive Geometrie (DE-588)4047436-7 gnd Geometrie (DE-588)4020236-7 gnd Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd Bildverarbeitung (DE-588)4006684-8 gnd |
| topic_facet | Maschinelles Sehen Projektive Geometrie Geometrie Dreidimensionales maschinelles Sehen Bildverarbeitung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026179214&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026179214&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT hartleyrichard multipleviewgeometryincomputervision AT zissermanandrew multipleviewgeometryincomputervision |