Self-calibration of multi-camera systems:
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| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Berlin
Logos-Verlag
[2010]
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| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | viii, 224 Seiten Illustrationen, Diagramme 21 cm |
| ISBN: | 9783832527365 |
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| 100 | 1 | |a Bajramovic, Ferid |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Self-calibration of multi-camera systems |c Ferid Bajramovic |
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Record in the Search Index
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| adam_text |
IMAGE 1
CONTENTS
1 INTRODUCTION 1
1.1 PROBLEM SPECIFICATION 2
1.2 OVERVIEW OF THE DISSERTATION AND ITS CONTRIBUTIONS 4
2 LITERATURE OVERVIEW 9
2.1 INTRINSIC CALIBRATION OF A SINGLE CAMERA 9
2.2 MULTI-CAMERA CALIBRATION 12
2.3 APPLICATIONS 18
3 WIDE-BASELINE POINT CORRESPONDENCE EXTRACTION 21
3.1 DETECTORS 21
3.2 DESCRIPTORS 24
3.3 MATCHING 26
4 RELATIVE POSE ESTIMATION 31
4.1 BACKGROUND AND NOTATION 31
4.2 BASIC RELATIVE POSE ESTIMATION ALGORITHMS 33
4.2.1 EIGHT-POINT ALGORITHM 33
4.2.2 SEVEN-POINT ALGORITHM 33
4.2.3 SIX-POINT ALGORITHM 34
4.2.4 FIVE-POINT ALGORITHM 34
4.2.5 NUMERICAL ASPECTS 35
4.2.6 EXTRACTING THE RELATIVE POSE FROM THE ESSENTIAL MATRIX 37
4.2.7 SELECTING A SINGLE SOLUTION FOR THE ESSENTIAL MATRIX 38
4.2.8 COMBINING ALGORITHMS 40
4.3 ROBUST RELATIVE POSE ESTIMATION 40
4.3.1 ADAPTIVE RANSAC 40
4.3.2 MLESAC 42
5 INTRINSIC ROTATIONAL SELF-CALIBRATION WITH PARTIALLY KNOWN ROTATIONS
47 5.1 LINEAR ROTATIONAL SELF-CALIBRATION 47
5.1.1 HOMOGRAPHY ESTIMATION 48
5.1.2 THE IMAGE OF THE ABSOLUTE CONIC 49
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1009698249
DIGITALISIERT DURCH
IMAGE 2
5.1.3 NUMERICAL STABILITY 51
5.2 NONLINEAR SELF-CALIBRATION 53
5.3 USING PARTIAL ROTATION KNOWLEDGE 55
5.3.1 SUITABLE OPTIMIZATION PROBLEMS 55
5.4 PARTIAL ROTATION KNOWLEDGE FROM A PAN-TILT UNIT 57
5.4.1 A SIMPLE PRACTICAL APPROACH 58
5.4.2 GENERAL KINEMATIC CHAIN MODEL 59
5.4.3 RELATIVE TRANSFORMATION FOR PAN-TILT MOTION 60
5.4.4 OPTIMIZATION PROBLEMS MODELING A PAN-TILT UNIT 61
UNCERTAINTY-BASED EXTRINSIC MULTI-CAMERA SELF-CALIBRATION 65
6.1 MULTI-CAMERA CALIBRATION FROM RELATIVE POSES 66
6.1.1 A SIMPLE EXTRINSIC CALIBRATION ALGORITHM 69
6.2 UNCERTAINTY MEASURES 69
6.2.1 APPROXIMATING THE UNCERTAINTY MEASURES 72
6.3 SELECTION OF RELATIVE POSES AS A DISCRETE OPTIMIZATION PROBLEM 73
6.4 SHORTEST TRIANGLE PATHS 76
6.4.1 SHORTEST TRIANGLE PATHS ALGORITHM 76
6.4.2 TRIANGLE PATHS STARTING FROM EDGES 79
6.4.3 DIRECT REPETITION OF TRIANGLES 79
6.4.4 PROOF OF THEOREM 6.11 80
6.4.5 TIME COMPLEXITY 82
6.5 COMPARISON TO VERGDS-LLAHI ET AL 84
6.6 COMMON FIELD OF VIEW DETECTION FOR MULTI-CAMERA CALIBRATION 85
6.6.1 SNAVELY'S CRITERION 86
6.6.2 GEOMETRIC UNCERTAINTY-MEASURES FOR COMMON FIELD OF VIEW DETECTION
. 87 6.6.3 PROBABILISTIC UNCERTAINTY MEASURES BASED ON SOFT
CORRESPONDENCES . . 87 6.6.4 COMBINATION WITH UNCERTAINTY-BASED
SELECTION OF RELATIVE POSES . . . 89 6.6.5 SEPARATING CAMERAS IN TWO OR
MORE ROOMS 90
EXPERIMENTS 91
7.1 ROTATIONAL SELF-CALIBRATION WITH PARTIAL ROTATION KNOWLEDGE 91
7.2 ESTIMATION OF RELATIVE POSES AND THEIR UNCERTAINTIES 100
7.2.1 COMPARISON OF BASIC ALGORITHMS FOR ESTIMATING THE ESSENTIAL MATRIX
. .101 7.2.2 EVALUATION OF ROBUST RELATIVE POSE ESTIMATION ALGORITHMS
103 7.2.3 CORRELATION OF THE UNCERTAINTY MEASURES WITH THE ERROR IN
RELATIVE POSE ESTIMATES 113
7.3 MULTI-CAMERA SELF-CALIBRATION 113
7.3.1 ANALYSIS OF PARAMETERS 119
7.3.2 COMPARISON OF UNCERTAINTY-BASED RELATIVE POSE SELECTION WITH NAIVE
SELECTION AND RANDOM EDGE WEIGHTS 119
7.3.3 COMPARISON OF POINT CORRESPONDENCE ALGORITHMS 122
7.4 COMMON FIELD OF VIEW DETECTION 125
IMAGE 3
7.4.1 ANALYSIS OF PARAMETERS OF THE PROBABILISTIC UNCERTAINTY MEASURES .
. . 127
7.4.2 COMPARISON OF METHODS 128
7.5 COMMON FIELD OF VIEW DETECTION AND MULTI-CAMERA CALIBRATION 129
7.5.1 COMBINATION WITH UNCERTAINTY-BASED SELECTION OF RELATIVE POSES . .
. 129 7.5.2 SEPARATING CAMERAS IN DIFFERENT ROOMS 131
7.6 A MULTI-CAMERA OBJECT TRACKING SYSTEM 133
7.6.1 DETAILS 133
7.6.2 RESULTS 136
8 SUMMARY, DISCUSSION AND FUTURE WORK 141
8.1 SUMMARY 141
8.2 DISCUSSION OF EXPERIMENTAL RESULTS 142
8.3 FUTURE WORK 143
A MATHEMATICAL BACKGROUND 147
A.I HOMOGENEOUS COORDINATES 147
A.2 REPRESENTATION OF 3D ROTATIONS 149
A.2.1 ROTATION VECTOR AND AXIS-ANGLE 150
A.2.2 ROTATING THE ROTATION AXIS 151
A.3 SINGULAR VALUE DECOMPOSITION 152
A.4 CHOLESKY DECOMPOSITION 154
A.5 EIGENVALUES, EIGENVECTORS, AND EIGENDECOMPOSITION 155
A.6 COMPANION MATRIX 156
A.7 GROEBNER BASES 156
A.8 BOX PLOTS 157
B GRAPH ALGORITHMS 159
B.I BREADTH FIRST SEARCH AND CONNECTED COMPONENTS 159
B.2 DIJKSTRA'S SHORTEST PATHS ALGORITHM 160
C NONLINEAR OPTIMIZATION ALGORITHMS 163
C.I A TRUST-REGION ALGORITHM 164
C. C. C. C. C. C.
.1 MAIN IDEA 164
.2 MODEL AND TRUST-REGION RADIUS 165
.3 NUMERICAL ASPECTS 166
.4 TERMINATION 167
.5 THE ALGORITHM 168
.6 SOLVING THE TRUST-REGION SUBPROBLEM 168
C.2 LEVENBERG-MARQUARDT 173
D 3D COMPUTER VISION BACKGROUND 177
D.I PINHOLE CAMERA MODEL AND COORDINATE SYSTEMS 177
D.2 RADIAL DISTORTION 178
IMAGE 4
D.3 EPIPOLAR GEOMETRY 180
D.4 TRIANGULATION 181
D.5 PATTERN-BASED CALIBRATION 183
D.6 KLT TRACKING 185
E ADDITIONAL EXPERIMENTAL RESULTS 187
BIBLIOGRAPHY 199
LIST OF OWN PUBLICATIONS 211
LIST OF ALGORITHMS 213
LIST OF FIGURES 215
LIST OF TABLES 219
LIST OF THEOREMS, DEFINITIONS, ETC. 221
INDEX 223 |
| any_adam_object | 1 |
| author | Bajramovic, Ferid |
| author_facet | Bajramovic, Ferid |
| author_role | aut |
| author_sort | Bajramovic, Ferid |
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| dewey-full | 621.367 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 621 - Applied physics |
| dewey-raw | 621.367 |
| dewey-search | 621.367 |
| dewey-sort | 3621.367 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Elektrotechnik / Elektronik / Nachrichtentechnik |
| format | Book |
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| spelling | Bajramovic, Ferid Verfasser aut Self-calibration of multi-camera systems Ferid Bajramovic Berlin Logos-Verlag [2010] © 2010 viii, 224 Seiten Illustrationen, Diagramme 21 cm txt rdacontent n rdamedia nc rdacarrier Selbstkalibrierung (DE-588)4211849-9 gnd rswk-swf Mehrkamerasystem (DE-588)7519506-9 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Mehrkamerasystem (DE-588)7519506-9 s Selbstkalibrierung (DE-588)4211849-9 s DE-604 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=3656974&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029684343&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Bajramovic, Ferid Self-calibration of multi-camera systems Selbstkalibrierung (DE-588)4211849-9 gnd Mehrkamerasystem (DE-588)7519506-9 gnd |
| subject_GND | (DE-588)4211849-9 (DE-588)7519506-9 (DE-588)4113937-9 |
| title | Self-calibration of multi-camera systems |
| title_auth | Self-calibration of multi-camera systems |
| title_exact_search | Self-calibration of multi-camera systems |
| title_full | Self-calibration of multi-camera systems Ferid Bajramovic |
| title_fullStr | Self-calibration of multi-camera systems Ferid Bajramovic |
| title_full_unstemmed | Self-calibration of multi-camera systems Ferid Bajramovic |
| title_short | Self-calibration of multi-camera systems |
| title_sort | self calibration of multi camera systems |
| topic | Selbstkalibrierung (DE-588)4211849-9 gnd Mehrkamerasystem (DE-588)7519506-9 gnd |
| topic_facet | Selbstkalibrierung Mehrkamerasystem Hochschulschrift |
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