Motion and Structure from Image Sequences [E-Book] / by Juyang Weng, Thomas S. Huang, Narendra Ahuja.
Weng, Juyang, (author)
Ahuja, Narendra, (author) / Huang, Thomas S., (author)
Berlin, Heidelberg : Springer, 1993
XV, 444 p. online resource.
englisch
9783642776434
10.1007/978-3-642-77643-4
Springer Series in Information Sciences ; 29
Full Text
Table of Contents:
  • 1. Introduction
  • 1.1 Formulation of the Problem
  • 1.2 Overview of Recent Progress
  • 1.3 Bibliographical Notes
  • 2. Image Matching
  • 2.1 Approaches to Establishing Correspondences
  • 2.2 An Approach to Image Matching
  • 2.3 Algorithm
  • 2.4 Motion and Structure Computation
  • 2.5 Refinements
  • 2.6 Examples
  • 2.7 Summary
  • 2.8 Bibliographical Notes
  • 3. Two-View Analysis
  • 3.1 Some Basic Issues
  • 3.2 An Algorithm
  • 3.3 Error Estimation
  • 3.4 Error Analysis
  • 3.5 Performance
  • 3.6 Summary
  • 3.7 Bibliographical Notes
  • Appendix 3.A Perturbation of Eigenspace
  • Appendix 3.B Quaternions
  • Appendix 3.C Alternative Fitting
  • 4. Optimization
  • 4.1 Motivations
  • 4.2 Stability of Linear Algorithms
  • 4.3 Maximum Likelihood Estimation
  • 4.4 A Two-Step Approach and Computation
  • 4.5 Minimum Variance Estimation
  • 4.6 Error Estimation and Error Bounds
  • 4.7 Batch and Sequential Methods
  • 4.9 Summary
  • 4.10 Bibliographical Notes
  • Appendix 4.A Decomposability
  • Appendix 4.B Weights
  • Appendix 4.C Triangulation with Noise
  • Appendix 4.D Matrix Derivatives
  • Appendix 4.E Cramér-Rao Bound
  • 5. Planar Scenes
  • 5.1 Planar Scene as a Degenerate Case
  • 5.2 Motion from a Plane
  • 5.3 Inherent Uniqueness
  • 5.4 Examples
  • 5.5 Conclusions
  • 5.6 Bibliographical Notes
  • Appendix 5.A Conditions on the Rank of A
  • Appendix 5.B Two Solutions from F
  • Appendix 5.C Plane-Perceivable Surfaces
  • Appendix 5.D Condition on Consistent Normals
  • Appendix 5.E Two-View Algorithm
  • Appendix 5.F Error Estimation
  • 6. From Line Correspondences
  • 6.1 Lines as Features
  • 6.2 Solution and Algorithm
  • 6.3 Degeneracy
  • 6.4 Optimization
  • 6.5 Simulations
  • 6.6 Conclusions and Discussions
  • 6.7 Bibliographical Notes
  • Appendix 6.A Ranks
  • Appendix 6.B Unique Consistent Assignment
  • Appendix 6.C Degeneracy
  • Appendix 6.D Distinct Locations Are Necessary
  • Appendix 6.E Alternative Degeneracy Condition
  • 7. Stereo
  • 7.1 Stereo Camera Systems
  • 7.2 Stereo Triangulation
  • 7.3 Closed-Form Solution
  • 7.4 Iterative Optimal Solution
  • 7.5 Outliers and Robust Estimators
  • 7.6 Examples
  • 7.7 Without Stereo Correspondences
  • 7.8 Long Image Sequences
  • 7.9 Conclusions
  • 7.10 Bibliographical Notes
  • Appendix 7.A MWCC Theorem
  • Appendix 7.B Least-Squares Matrix Fitting
  • 8. Motion Modeling and Prediction
  • 8.1 Coherence of Motion
  • 8.2 The LCAM Model
  • 8.3 Estimation and Prediction
  • 8.4 Monocular Vision
  • 8.5 Optimization
  • 8.6 Experimental Examples
  • 8.7 Summary
  • 8.8 Bibliographical Notes
  • Appendix 8.A Solution of Coefficient Equations
  • Appendix 8.B Rotation without Precession
  • Appendix 8.C Singularity of the Matrix
  • References.