Three-dimensional Computer Vision: A Geometric Viewpoint

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MIT Press, 1993 - Computers - 663 pages
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This monograph by one of the world's leading vision researchers provides a thorough,mathematically rigorous exposition of a broad and vital area in computer vision: the problems andtechniques related to three-dimensional (stereo) vision and motion. The emphasis is on usinggeometry to solve problems in stereo and motion, with examples from navigation and objectrecognition.Faugeras takes up such important problems in computer vision as projective geometry,camera calibration, edge detection, stereo vision (with many examples on real images), differentkinds of representations and transformations (especially 3-D rotations), uncertainty and methods ofaddressing it, and object representation and recognition. His theoretical account is illustratedwith the results of actual working programs.Three-Dimensional Computer Vision proposes solutions toproblems arising from a specific robotics scenario in which a system must perceive and act. Movingabout an unknown environment, the system has to avoid static and mobile obstacles, build models ofobjects and places in order to be able to recognize and locate them, and characterize its own motionand that of moving objects, by providing descriptions of the corresponding three-dimensionalmotions. The ideas generated, however, can be used indifferent settings, resulting in a general bookon computer vision that reveals the fascinating relationship of three-dimensional geometry and theimaging process.Olivier Faugeras is Research Director of the Computer Vision and Robotics Laboratoryat INRIA Sophia-Antipolis and a Professor of Applied Mathematics at the Ecole Polytechnique inParis.

  

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begin at page 159...where is content before that?

Contents

Projective Geometry
7
Modeling and Calibrating Cameras
33
Edge Detection
69
derivative
90
magnitude
108
Representing Geometric Primitives and Their Uncertainty
125
Stereo Vision
165
Determining Discrete Motion from Points and Lines
245
Motion Fields of Curves
341
Interpolating and Approximating ThreeDimensional Data
403
Recognizing and Locating Objects and Places
483
robot
534
Answers to Problems
559
A Constrained Optimization
623
Bibliography
635
Index
659

Tracking Tokens over Time
301

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About the author (1993)

Olivier Faugeras is Research Director and head of a computer vision group at INRIA and AdjunctProfessor of Electrical Engineering and Computer Science at the Massachusetts Institute ofTechnology. He is the author of Three-Dimensional Computer Vision (MIT Press,1993).

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