The Problem of Degeneracy in Structure and Motion Recovery from Uncalibrated Image Sequences
International Journal of Computer Vision - 1998 Marr Prize
Affine Structure and Motion from Points, Lines and Conics
International Journal of Computer Vision
Linear Differential Algorithm for Motion Recovery: AGeometric Approach
International Journal of Computer Vision
Image-Based Rendering Using Parameterized Image Varieties
International Journal of Computer Vision
IMPSAC: Synthesis of Importance Sampling and Random Sample Consensus
IEEE Transactions on Pattern Analysis and Machine Intelligence
Balanced Recovery of 3D Structure and Camera Motion from Uncalibrated Image Sequences
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Structure from Planar Motions with Small Baselines
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
A Six Point Solution for Structure and Motion
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
Reconstruction from Uncalibrated Sequences with a Hierarchy of Trifocal Tensors
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
IMPSAC: Synthesis of Importance Sampling and Random Sample Consensus
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Sequential Localisation and Map-Building in Computer Vision and Robotics
SMILE '00 Revised Papers from Second European Workshop on 3D Structure from Multiple Images of Large-Scale Environments
Frame Decimation for Structure and Motion
SMILE '00 Revised Papers from Second European Workshop on 3D Structure from Multiple Images of Large-Scale Environments
A canonical framework for sequences of images
VSR '95 Proceedings of the IEEE Workshop on Representation of Visual Scenes
Sequential projective reconstruction with factorization
Machine Graphics & Vision International Journal
Affine Reconstruction from Translational Motion under Various Autocalibration Constraints
Journal of Mathematical Imaging and Vision
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters
International Journal of Robotics Research
A camera self-calibration technique for mobile wheelchairs
Integrated Computer-Aided Engineering
Visual Navigation for Mobile Robots: A Survey
Journal of Intelligent and Robotic Systems
Recovering epipolar direction from two affine views of a planar object
Computer Vision and Image Understanding
Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
Scene modelling from sparse 3D data
Image and Vision Computing
Multi-sensor based autonomous underwater manipulator grasp
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Affine epipolar direction from two views of a planar contour
ACIVS'06 Proceedings of the 8th international conference on Advanced Concepts For Intelligent Vision Systems
Hi-index | 0.00 |
The paper proposes a statistical framework that enables 3D structure and motion to be computed optimally from an image sequence, on the assumption that feature measurement errors are independent and Gaussian distributed. The analysis and results demonstrate that computing both camera/scene motion and 3D structure is essential to computing either with any accuracy. Having computed optimal estimates of structure and motion over a small number of initial images, a recursive version of the algorithm (previously reported) recomputes sub optimal estimates given new image data. The algorithm is designed explicitly for real time implementation, and the complexity is proportional to the number of tracked features. 3D projective, affine and Euclidean models of structure and motion recovery have been implemented, incorporating both point and line features into the computation. The framework can handle any feature type and camera model that may be encapsulated as a projection equation from scene to image.