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
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_326490 |
| Date | January 2009 |
| Contributors | Leung, Man Kin., Chinese University of Hong Kong Graduate School. Division of Computer Science and Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, xvii, 126 leaves : ill. (some col.) ; 30 cm. |
| Rights | Use 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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