Thesis (MScEng (Mathematical Sciences. Applied Mathematics))--University of Stellenbosch, 2009. / Engineers struggle to replicate the capabilities of the sophisticated human visual
system. This thesis sets out to recover motion and 3D structure of multiple rigid
objects up to a similarity. The motion of these objects are either recorded in a
single video sequence, or images of the objects are recorded on multiple, di erent
cameras. We assume a perspective camera model with optional provision for
calibration information. The Structure from Motion (SfM) problem is addressed
from a matrix factorization point of view. This leads to a reconstruction correct
up to a projectivity of little use in itself. Using techniques from camera autocalibration
the projectivity is upgraded to a similarity. This reconstruction
is also applied to multiple objects through motion segmentation. The SfM
system developed in this thesis is a batch-processing algorithm, requiring few
frames for a solution and readily accepts images from very di erent viewpoints.
Since a solution can be obtained with just a few frames, it can be used to
initialize sequential methods with slower convergence rates, such as the Kalman
lter. The SfM system is critically evaluated against an extensive set of motion
sequences.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:sun/oai:scholar.sun.ac.za:10019.1/2892 |
| Date | 03 1900 |
| Creators | De Vaal, Jan Hendrik |
| Contributors | Herbst, B. M., University of Stellenbosch. Faculty of Science. Dept. of Mathematical Sciences. Applied Mathematics. |
| Publisher | Stellenbosch : University of Stellenbosch |
| Source Sets | South African National ETD Portal |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Rights | University of Stellenbosch |
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