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Pose tracking of multiple camera system.

Leung, Man Kin. / Thesis submitted in: October 2008. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2009. / Includes bibliographical references (leaves 121-126). / Abstracts in English and Chinese. / Abstract --- p.ii / Acknowledgement --- p.iv / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Overview --- p.1 / Chapter 1.2 --- Motivation --- p.4 / Chapter 1.3 --- Contributions --- p.5 / Chapter 1.4 --- Organization of the thesis --- p.6 / Chapter 2 --- Literature review --- p.8 / Chapter 2.1 --- Introduction --- p.8 / Chapter 2.2 --- Background knowledge --- p.9 / Chapter 2.2.1 --- Pinhole camera model --- p.10 / Chapter 2.2.2 --- Kalman filter --- p.11 / Chapter 2.2.3 --- Extended Kalman filter --- p.14 / Chapter 2.2.4 --- Unscented Kalman filter --- p.15 / Chapter 2.3 --- Batch method --- p.19 / Chapter 2.3.1 --- Multiple view geometry --- p.19 / Chapter 2.3.2 --- Factorization --- p.21 / Chapter 2.3.3 --- Bundle adjustment --- p.22 / Chapter 2.4 --- Sequential method --- p.23 / Chapter 2.5 --- SLAM using cameras --- p.24 / Chapter 2.6 --- Summary --- p.26 / Chapter 3 --- Pose tracking of a stereo camera system --- p.27 / Chapter 3.1 --- Overview --- p.27 / Chapter 3.1.1 --- Related work --- p.27 / Chapter 3.1.2 --- Contribution --- p.29 / Chapter 3.2 --- Problem definition --- p.29 / Chapter 3.3 --- Algorithm --- p.31 / Chapter 3.3.1 --- Initialization --- p.33 / Chapter 3.3.2 --- Feature tracking and stereo correspondence matching --- p.33 / Chapter 3.3.3 --- Pose tracking based on two trifocal tensors --- p.35 / Chapter 3.3.4 --- Pose tracking using extended Kalman filter (Our EKF-2 approach) --- p.37 / Chapter 3.3.5 --- Pose tracking using unscented Kalman filter (Our UKF-2 approach) --- p.41 / Chapter 3.3.6 --- Pose tracking using differential evolution (Our DE-2 approach) --- p.44 / Chapter 3.4 --- Experiment --- p.49 / Chapter 3.4.1 --- Synthetic experiments --- p.49 / Chapter 3.4.2 --- Real experiments --- p.55 / Chapter 3.5 --- Summary --- p.67 / Chapter 4 --- Advance to two pairs of stereo cameras --- p.68 / Chapter 4.1 --- Overview --- p.68 / Chapter 4.1.1 --- Related work --- p.68 / Chapter 4.1.2 --- Contribution --- p.69 / Chapter 4.2 --- Problem definition --- p.70 / Chapter 4.3 --- Algorithm --- p.72 / Chapter 4.3.1 --- Initialization --- p.72 / Chapter 4.3.2 --- Feature tracking and stereo correspondence matching --- p.74 / Chapter 4.3.3 --- Pose tracking based on four trifocal tensors --- p.76 / Chapter 4.3.4 --- Pose tracking using extended Kalman filter (Our EKF-4 approach) --- p.79 / Chapter 4.3.5 --- Pose tracking using unscented Kalman filter (Our UKF-4 approach) --- p.84 / Chapter 4.4 --- Experiment --- p.87 / Chapter 4.4.1 --- Synthetic experiments --- p.87 / Chapter 4.4.2 --- Real experiments --- p.100 / Chapter 4.5 --- Summary --- p.113 / Chapter 5 --- Conclusion --- p.115 / Chapter 5.1 --- Conclusion --- p.115 / Chapter 5.2 --- Scope of Applications --- p.116 / Chapter 5.3 --- Limitations --- p.117 / Chapter 5.4 --- Difficulties --- p.118 / Chapter 5.5 --- Future work --- p.118 / Bibliography --- p.121

Identiferoai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_326490
Date January 2009
ContributorsLeung, Man Kin., Chinese University of Hong Kong Graduate School. Division of Computer Science and Engineering.
Source SetsThe Chinese University of Hong Kong
LanguageEnglish, Chinese
Detected LanguageEnglish
TypeText, bibliography
Formatprint, xvii, 126 leaves : ill. (some col.) ; 30 cm.
RightsUse of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/)

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