NDLI: 3D structure from a monocular sequence of images

Content Provider	IEEE Xplore Digital Library
Author	Jezouin, J.L. Ayache, N.
Copyright Year	1990
Description	Author affiliation: MATRA, St. Quentin en Yvelines, France (Jezouin, J.L.)
Abstract	The authors address the following problem: given a camera moving in an unknown environment, they want to obtain a 3-D description of the environment. A unifying approach is presented by deriving a unique formalism to process uniformly different but complementary features, namely points and linear segments. Different concepts for tracking features are given: (1) 2-D tracker-2-D features are tracked using an order one dynamic model for their evolution; (2) 2-D+estimation tracker-3-D fusion of 2-D features is performed recursively, and then the value predicted at time t for these 3-D features is projected at time t+1 onto the camera focal plane and replaces the dynamic model used in the 2-D tracker, allowing the introduction of 3-D information into the 2-D feature tracker without prior knowledge of the environment; and (3) 3-D tracker-the 2-D tracker disappears, and all computations are 3-D. The 3-D tracker combines the simplicity of the 2-D tracker and the efficiency of the 2-D+estimation tracker. A description is given of the mechanisms of fusion that integrate 2-D measurements into an estimate of the feature 3-D parameters. Uncertainties are taken into account through extended Kalman filtering. Feature parametrizations are chosen to simplify the linearization process and ensure numerical stability.<>
Starting Page	441
Ending Page	444
File Size	576813
Page Count	4
File Format	PDF
ISBN	0818620579
DOI	10.1109/ICCV.1990.139567
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1990-12-04
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image edge detection Image segmentation Geometry Filtering Stability Tracking Motion estimation Position measurement Joining processes Equations
Content Type	Text
Resource Type	Article

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