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Introduction

  • Javier Civera
  • Andrew J. Davison
  • José María Martínez Montiel
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 75)

Abstract

The fully automated 3D estimation of a scene and the 6 degrees of freedom camera motion using as the only input the images taken by the camera has been a long term aim in the computer vision community. The intense research in the latest decades has produced spectacular advances; the topic is already mature and most of its aspects are already well known. 3D vision has inmediate applications in many different fields, like robotics or augmented reality, and technological transfer is starting to be a reality. This book describes one of the first systems for sparse point-based 3D reconstruction and egomotion estimation from an image sequence; able to work in real-time at video rate in room-sized scenarios. This chapter introduces the main topics that will be detailed in the rest of the book, covering aspects like the point feature model, efficient and robust correspondences search, model selection for degenerate configurations and internal self-calibration.

Keywords

Augmented Reality Extend Kalman Filter Camera Motion Bundle Adjustment Structure From Motion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Javier Civera
    • 1
  • Andrew J. Davison
    • 2
  • José María Martínez Montiel
    • 1
  1. 1.Departamento de Informática e IngenieríaUniversidad de ZaragozaZaragozaSpain
  2. 2.Department of ComputingImperial CollegeLondonUnited Kingdom

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