Download e-book for kindle: 3D Dynamic Scene Analysis: A Stereo Based Approach by Dr. Zhengyou Zhang, Dr. Olivier Faugeras (auth.)

By Dr. Zhengyou Zhang, Dr. Olivier Faugeras (auth.)

ISBN-10: 364258148X

ISBN-13: 9783642581489

ISBN-10: 3642634850

ISBN-13: 9783642634857

he challenge of examining sequences of pictures to extract three-d T movement and constitution has been on the middle of the study in computing device vi­ sion for a few years. it is important to due to the fact that its luck or failure will be certain even if imaginative and prescient can be utilized as a sensory method in reactive platforms. The enormous examine curiosity during this box has been influenced a minimum of by way of the subsequent issues: 1. The redundancy of data contained in time-varying pictures can over­ come a number of problems encountered in reading a unmarried photograph. 2. there are many very important purposes together with automated car driv­ ing, site visitors keep an eye on, aerial surveillance, scientific inspection and worldwide version building. despite the fact that, there are numerous new difficulties which may be solved: find out how to effi­ ciently approach the ample details contained in time-varying photos, tips to version the swap among photos, tips on how to version the uncertainty inherently linked to the imaging method and the way to resolve inverse difficulties that are usually ill-posed. there are naturally many probabilities for attacking those difficulties and plenty of extra stay to be explored. We speak about some of them during this booklet in line with paintings performed over the last 5 years within the machine imaginative and prescient and Robotics crew at INRIA (Institut nationwide de Recherche en Informatique et en Automatique).

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Extra info for 3D Dynamic Scene Analysis: A Stereo Based Approach

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1. Table of the X? 81 0 under hypothesis Ho. If we define _ X- A H -l/l ' y, Yi' then X is Gaussian with mean zero and covariance E[XXT] = E[A-I/ly'y'TA-I/l] = A-I/lAA-I/l = I, y, •• y, y, y, y, where I is the identity matrix. ) is the f-function, and r(n + 1) n! 25) 24 2. Uncertainty Manipulation and Parameter Estimation r(n+1/2) = r(1/2) = (2n-1)!! fi. 4 draws the X2 distribution with different degrees of freedom and p(t, n)dt. 49 is 95% if Yi has 4 degrees of freedom. We can then choose an appropriate threshold c on the Mahalanobis distance by looking at the X2 distribution table.

3,4]. They are elements of a vector space endowed with multiplication. A quaternion q can be considered as being either a 4-dimensional vector [Ao, AI, A2, A3]T or as a pair (a, ,) where a is a real number equal to Ao, and, is the vector [AI, A2, A3]T. We define the multiplication X of two quaternions q and q' as follows: q X q' = (aa' - , . ,', a,' + a', + , 1\ ,') . 7) Multiplication is associative but not commutative. The conjugate and the magnitude of a quaternion q are defined as follows: q = (a, -,) , Iql2 = qxq=(a2+11,1I 2,O)=(llqI12,O).

We assume that the translation is applied after the rotation. 1) where R is a 3 x 3 matrix called the rotation matrix and t is a 3-dimensional vector called the translation vector. 1 Definition If we use (R, t) to represent a rigid motion, 12 parameters are required. However, it has long since been known that a rigid motion has only six Degrees Of 4. Representations of Geometric Objects 40 PI 3 DOFs 2 DOFs 1 DOF Fig. 1. A rigid motion has 6 degrees of freedom Freedom (DOFs). This can be easily understood from the following consideration (see Fig.

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3D Dynamic Scene Analysis: A Stereo Based Approach by Dr. Zhengyou Zhang, Dr. Olivier Faugeras (auth.)

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