3D dynamic scene analysis: a stereo based approach
This is the first book to treat the analysis of 3D dynamic scenes using a stereovision system. Several approaches are described, for example two different methods for dealing with long and short sequences of images of an unknown environment including an arbitrary number of rigid mobile objects. Results obtained from stereovision systems are found to be superior to those from monocular image systems, which are often very sensitive to noise and therefore of little use in practice. It is shown thatmotion estimation can be further improved by the explicit modeling of uncertainty in geometric objects. The techniques developed in this book have been successfully demonstrated with a large number of real images in the context of visual navigation of a mobile robot.
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Reconstruction of 3D Line Segments
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3D frames 3D line segments algorithm apply approach calibration camera Chap chapter component compute Computer Vision constant angular velocity coordinate system corresponding covariance matrix dashed lines defined denotes described in Sect displacement egomotion EKF-AXIS EKF-QUAT endpoints environment epipolar equation error example extended Kalman filter Figure focus feature function geometric given hypothesis initial estimate INRIA iteration KIM-AGGA kinematic model kinematic parameters least-squares linear Mahalanobis distance matched segments measurement method midpoint minimization mobile robot motion analysis motion estimate motion parameters motion-determination moving objects multiple matches navigation noise number of segments object motions observed scene obtain odometric optical flow orientation pairings plane position predicted quaternion reconstructed recover representation represented rigid motion rigidity constraints rotation axis rotation matrix second frame segments of Frame sensor shows singular value decomposition solid lines solution stereo frames stereovision superposition Theorem top views trajectory transformation translational velocity uncertainty update Vision