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Springer Tracts in Advanced Robotics #75: Structure from Motion Using the Extended Kalman Filter

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Synopses & Reviews

Publisher Comments:

The fully automated estimation of the 6 degrees of freedom camera motion and the imaged 3D scenario using as the only input the pictures taken by the camera has been a long term aim in the computer vision community. The associated line of research has been known as Structure from Motion (SfM). An intense research effort during the latest decades has produced spectacular advances; the topic has reached a consistent state of maturity and most of its aspects are well known nowadays. 3D vision has immediate applications in many and diverse fields like robotics, videogames and augmented reality; and technological transfer is starting to be a reality. This book describes one of the first systems for sparse point-based 3D reconstruction and egomotion estimation from an image sequence; able to run in real-time at video frame rate and assuming quite weak prior knowledge about camera calibration, motion or scene. Its chapters unify the current perspectives of the robotics and computer vision communities on the 3D vision topic: As usual in robotics sensing, the explicit estimation and propagation of the uncertainty hold a central role in the sequential video processing and is shown to boost the efficiency and performance of the 3D estimation. On the other hand, some of the most relevant topics discussed in SfM by the computer vision scientists are addressed under this probabilistic filtering scheme; namely projective models, spurious rejection, model selection and self-calibration.

Synopsis:

This multidisciplinary review of signaling pathways that regulate circulatory and respiratory function focuses on those involved in cell signaling, from sensors and receptors on the cell surface to intracellular effectors that trigger molecule synthesis.

Table of Contents

Introduction.- Points at Infinity. Mosaics using the Extended Kalman Filter.- Inverse Depth Parametrization.- 1-Point RANSAC.- Degenerate Camera Motions and Model Selection.- Self-calibration.- Conclusions.

Product Details

ISBN:
9783642248337
Author:
Civera, Javier
Publisher:
Springer
Author:
Martínez Montiel, José María
Author:
Montiel, José María Martínez
Author:
Davison, Andrew J.
Subject:
Robotics
Subject:
Computer Vision
Subject:
SLAM
Subject:
Structure from Motion
Subject:
Robotics and Automation
Subject:
Artificial Intelligence (incl. Robotics)
Subject:
Image Processing and Computer Vision
Subject:
Computers-Reference - General
Copyright:
Edition Description:
2011
Series:
Springer Tracts in Advanced Robotics
Series Volume:
75
Publication Date:
20111228
Binding:
HARDCOVER
Language:
English
Pages:
188
Dimensions:
235 x 155 mm

Related Subjects

Computers and Internet » Artificial Intelligence » General
Computers and Internet » Artificial Intelligence » Robotics
Computers and Internet » Computers Reference » General
Computers and Internet » Graphics » General

Springer Tracts in Advanced Robotics #75: Structure from Motion Using the Extended Kalman Filter New Hardcover
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Product details 188 pages Springer - English 9783642248337 Reviews:
"Synopsis" by , This multidisciplinary review of signaling pathways that regulate circulatory and respiratory function focuses on those involved in cell signaling, from sensors and receptors on the cell surface to intracellular effectors that trigger molecule synthesis.
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