Contributions to stereo vision:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
München
Techn. Univ.
2013
|
| Schlagworte: | |
| Online-Zugang: | kostenfrei https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20130617-1136933-0-0 Inhaltsverzeichnis |
| Beschreibung: | XI, 140 S. Ill., graph. Darst. |
Internformat
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| 100 | 1 | |a Unger, Christian |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Contributions to stereo vision |c Christian Unger |
| 264 | 1 | |a München |b Techn. Univ. |c 2013 | |
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Datensatz im Suchindex
| _version_ | 1804151572760887296 |
|---|---|
| adam_text | CONTENTS
1. INTRODUCTION 1
1.1. PRACTICAL MOTIVATION 1
1.2. PRACTICAL CHALLENGES 2
1.3. CONTRIBUTIONS 4
1.4. PUBLICATIONS 6
1.5. OUTLINE 7
2. BACKGROUND 9
2.1. SINGLE VIEW GEOMETRY 9
2.1.1. IMAGES 9
2.1.2. CAMERA MODEL 9
2.1.3. RADIAL LENS DISTORTION 10
2.1.4. HOMOGRAPHIES 11
2.1.5. MONOCULAR RANGE ERROR ANALYSIS 11
2.2. TWO VIEW GEOMETRY 12
2.2.1. EPIPOLAR GEOMETRY 12
2.2.2. THE FUNDAMENTAL MATRIX 13
2.2.3. RECTIFICATION 14
2.2.4. DISPARITY 15
2.2.5. TRIANGULATION 15
2.2.6. BINOCULAR RANGE ERROR ANALYSIS 16
2.2.7. BINOCULAR HEIGHT ERROR ANALYSIS 16
2.2.8. THEORETICAL ERROR DISCUSSION 17
3. STATE OF THE ART 19
3.1. MATCHING COST FUNCTIONS 19
3.2. BINOCULAR STEREO MATCHING 20
3.3. MULTI-VIEW STEREO RECONSTRUCTION 23
3.4. INTELLIGENT VEHICLE SYSTEMS 24
3.4.1. VISION SENSOR TECHNOLOGIES 25
3.4.2. CATEGORIES OF DRIVER ASSISTANCE SYSTEMS 26
3.4.3. PARKING ASSISTANCE 28
4. EFFICIENT STEREO VISION 31
4.1. RELATED METHODS 32
4.1.1. EFFICIENT STEREO 32
4.1.2. DECALIBRATION 33
4.2. TRADITIONAL DISPARITY COMPUTATION 33
4.2.1. ROBUST SIMILARITY MEASURES 34
IX
HTTP://D-NB.INFO/1046586289
CONTENTS
4.3. DISPARITY COMPUTATION BY REGION TRACING 35
4.4. EFFICIENT DISPARITY COMPUTATION WITHOUT MAXIMUM DISPARITY 41
4.5. GENERALIZATIONS TO DECALIBRATED STEREO 43
4.5.1. SMALL EPIPOLAR DEVIATIONS 43
4.5.2. LARGE EPIPOLAR DEVIATIONS 45
4.6. DISPARITY REFINEMENT USING LOCAL ENERGY MINIMIZATION 45
4.7. RESULTS 47
4.7.1. STEREO PAIRS WITH GROUND TRUTH 48
4.7.2. MORE RESULTS ON REAL WORLD SEQUENCES 53
4.7.3. EXPERIMENTS ON STEREO WITH EPIPOLAR DEVIATIONS 55
4.7.4. EXPERIMENTS ON OPTICAL FLOW 56
4.7.5. EXECUTION TIMES 57
4.8. DISCUSSION 61
5. ACCURATE STEREO VISION 63
5.1. RELATED METHODS 64
5.2. ACCURATE STEREO VISION USING SIMULATED RANDOM WALKS 65
5.2.1. COMPUTATION OF MATCHING COSTS 66
5.2.2. RANDOM WALKS 66
5.2.3. LEFT-RIGHT
SIMULATION 67
5.2.4. COST AGGREGATION USING MULTIPLE SURFACE ORIENTATIONS 68
5.2.5. VOTING USING RANDOM WALKS 68
5.2.6. PROPAGATION INTO OCCLUDED REGIONS 69
5.2.7. GLOBAL STEREO MODEL 70
5.2.8. SUMMARY 70
5.3. RESULTS 70
5.3.1. PARAMETER ANALYSIS 71
5.3.2. METHOD ANALYSIS 72
5.3.3. COMPARISON TO OTHER METHODS 73
5.3.4. REAL WORLD SEQUENCES 74
5.4. DISCUSSION 76
6. PROBABILISTIC STEREO FUSION 77
6.1. RELATED METHODS 78
6.2. PROBABILISTIC STEREO FUSION 80
6.2.1. LEFT-RIGHT AND RIGHT-LEFT DISTINCTION 80
6.2.2. GOAL 80
6.2.3. HANDLING OCCLUSIONS 80
6.2.4. PROBABILITY DENSITY FUNCTION OF DISPARITY 82
6.2.5. DISPARITY SELECTION 84
6.2.6. ALIGNED CAMERAS 84
6.3. RESULTS . 85
6.3.1. COMPARISON TO OTHER FUSION METHODS 86
6.3.2. REAL WORLD SEQUENCES 91
6.4. DISCUSSION 91
X
CONTENTS
7. CAMERA-BASED PARKING ASSISTANCE 95
7.1. RELATED METHODS 95
7.2. ENVIRONMENT MODELING 96
7.2.1. METHOD OVERVIEW 96
7.2.2. CAMERA SENSORS 97
7.2.3. CALIBRATION AND RECTIFICATION 97
7.2.4. STEREO MATCHING 99
7.2.5. IMPROVED MATCHING FOR MOTION-STEREO 99
7.2.6. TEMPORAL FUSION OF DISPARITY MAPS 100
7.2.7. GROUND PLANE SEGMENTATION 100
7.2.8. COMPUTATION OF SILHOUETTES 102
7.2.9. CUMULATIVE MAP CREATION 103
7.3. APPLICATIONS 104
7.3.1. AUTOMATIC PARKING SLOT DETECTION 105
7.3.2. COLLISION WARNING 106
7.3.3. AUGMENTED PARKING 107
7.4. RESULTS 108
7.4.1. TEST METHODOLOGY 108
7.4.2. ANALYSIS OF THE STEREO PIPELINE 110
7.4.3. PERFORMANCE WHEN USING TOP-VIEW CAMERAS ILL
7.4.4. ANALYSIS OF ENVIRONMENTAL INFLUENCES 112
7.4.5. COMPARISON TO OTHER METHODS 112
7.4.6. ACCURACY OF DEPTH MEASUREMENTS 114
7.4.7. PERFORMANCE OF THE COLLISION WARNING 115
7.4.8. QUALITATIVE IMPRESSIONS OF AUGMENTED PARKING 116
7.4.9. EXECUTION TIMES 116
7.5. DISCUSSION 120
7.6. SUMMARY 121
8. CONCLUSION 123
A. LIST OF SYMBOLS 125
BIBLIOGRAPHY 127
XI
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| spelling | Unger, Christian Verfasser aut Contributions to stereo vision Christian Unger München Techn. Univ. 2013 XI, 140 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier München, Techn. Univ., Diss., 2013 Räumliches Sehen (DE-588)4057325-4 gnd rswk-swf Dreidimensionale Rekonstruktion (DE-588)4150634-0 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Dreidimensionale Rekonstruktion (DE-588)4150634-0 s Räumliches Sehen (DE-588)4057325-4 s DE-604 Erscheint auch als Online-Ausgabe urn:nbn:de:bvb:91-diss-20130617-1136933-0-0 http://mediatum.ub.tum.de/node?id=1136933 Verlag kostenfrei Volltext https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20130617-1136933-0-0 Resolving-System DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026896020&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Unger, Christian Contributions to stereo vision Räumliches Sehen (DE-588)4057325-4 gnd Dreidimensionale Rekonstruktion (DE-588)4150634-0 gnd |
| subject_GND | (DE-588)4057325-4 (DE-588)4150634-0 (DE-588)4113937-9 |
| title | Contributions to stereo vision |
| title_auth | Contributions to stereo vision |
| title_exact_search | Contributions to stereo vision |
| title_full | Contributions to stereo vision Christian Unger |
| title_fullStr | Contributions to stereo vision Christian Unger |
| title_full_unstemmed | Contributions to stereo vision Christian Unger |
| title_short | Contributions to stereo vision |
| title_sort | contributions to stereo vision |
| topic | Räumliches Sehen (DE-588)4057325-4 gnd Dreidimensionale Rekonstruktion (DE-588)4150634-0 gnd |
| topic_facet | Räumliches Sehen Dreidimensionale Rekonstruktion Hochschulschrift |
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