The browser you are using is not supported by this website. All versions of Internet Explorer are no longer supported, either by us or Microsoft (read more here: https://www.microsoft.com/en-us/microsoft-365/windows/end-of-ie-support).

Please use a modern browser to fully experience our website, such as the newest versions of Edge, Chrome, Firefox or Safari etc.

Solutions and their ambiguities for structure and motion problems

På svenska

Author

Summary, in English

This thesis revolves around the problem of solving the structure and motion problem in computer vision. This is the problem of reconstructing the world, the structure, from images taken by a number of cameras undergoing an unknown motion. Much of the thesis is centred on the problem of finding initial estimates of the structure and the motion using a small set of image data. These initial estimates can then be extended and optimized using non-linear bundle adjustment. These initial estimates can be found by solving minimal problems, i.e. problems with exactly enough data to constrain a solution. Chapters 3-7 are devoted to the analysis, classification and solution of minimal structure and motion problems for different types of cameras and different types of image features. The aim is to classify and solve all possible structure and motion problems.Large parts of the thesis concerns vision based on cameras with one-dimensional retinae. A one-dimensional camera takes one-dimensional images of a two- or three-dimensional scene.Chapters 8-11 describe research and development of an automatic system for structure and motion estimation for a laser guided vehicle. The imaging system of a laser guided vehicle can be modelled by a one-dimensional camera. Chapter 9 and 10 covers the problem of automatic geometric reasoning which is an essential part of making the system described in chapter 11 more robust.

Publishing year

2002

Language

English

Publication/Series

Doctoral Theses in Mathematical Sciences

Volume

2002:8

Document type

Dissertation

Publisher

Centre for Mathematical Sciences, Lund University

Topic

  • Mathematics

Keywords

  • surveying
  • navigation
  • autonomously guided vehicles
  • motion
  • Computer vision
  • structure
  • Mathematics
  • Matematik

Status

Published

Supervisor

  • [unknown] [unknown]

ISBN/ISSN/Other

  • ISSN: 1404-0034
  • ISBN: 91-628-5461-5
  • ISRN: LUTFA-1014-2002

Defence date

29 November 2002

Defence time

15:15

Defence place

Room C, Matematikcentrum, Lund

Opponent

  • Peter Giblin (Dr)