Model-based computer vision: motion analysis, motion-based segmentation, 3D object recognition.

Abstract

by Man-lee Liu.Thesis (M.Phil.)--Chinese University of Hong Kong, 1998.Includes bibliographical references (leaves 143-151).LIST OF TABLES --- p.viLIST OF FIGURES --- p.xiiCHAPTERChapter 1 --- Introduction --- p.1Chapter 1.1 --- Model-based Motion Analysis --- p.2Chapter 1.1.1 --- With 3D-to-3D Point Correspondences --- p.4Chapter 1.1.2 --- With 2D-to-3D Point Correspondences --- p.5Chapter 1.1.3 --- With 2D-to-2D Point Correspondences --- p.6Chapter 1.2 --- Motion-based Segmentation --- p.7Chapter 1.3 --- 3D Object Recognition --- p.8Chapter 1.4 --- Organization of the Thesis --- p.8Chapter 2 --- Literature Review and Summary of Contributions --- p.10Chapter 2.1 --- Model-based Motion Analysis --- p.10Chapter 2.1.1 --- With 3D-to-3D Point Correspondences --- p.10Chapter 2.1.2 --- With 2D-to-3D Point Correspondences --- p.13Chapter 2.1.2.1 --- An Iterative Approach: Lowe's Algorithm --- p.18Chapter 2.1.2.2 --- A Linear Approach: Faugeras's Algorithm --- p.19Chapter 2.1.3 --- With 2D-to-2D Point Correspondences --- p.22Chapter 2.2 --- Motion-based Segmentation --- p.27Chapter 2.3 --- 3D Object Recognition --- p.28Chapter 2.4 --- Summary of Contributions --- p.30Chapter 3 --- Model-based Motion Analysis with 2D-to-3D Point Correspondences --- p.34Chapter 3.1 --- A new Iterative Algorithm for the Perspective-4-point Problem: TL-algorithm --- p.34Chapter 3.1.1 --- Algorithm --- p.35Chapter 3.1.2 --- Experiment --- p.37Chapter 3.1.2.1 --- Experiment using Synthetic Data --- p.38Chapter 3.1.2.2 --- Experiment using Real Data --- p.42Chapter 3.2 --- An Enhancement of Faugeras's Algorithm --- p.42Chapter 3.2.1 --- Experimental Comparison between the Original Faugeras's Algorithm and the Modified One --- p.44Chapter 3.2.1.1 --- Experiment One: Fixed Motion --- p.44Chapter 3.2.1.2 --- Experiment Two: Using Motion Generated Ran- domly --- p.50Chapter 3.2.2 --- Discussion --- p.54Chapter 3.3 --- A new Linear Algorithm for the Model-based Motion Analysis: Six-point Algorithm --- p.55Chapter 3.3.1 --- General Information of the Six-point Algorithm --- p.55Chapter 3.3.2 --- Original Version of the Six-point Algorithm --- p.56Chapter 3.3.2.1 --- Linear Solution Part --- p.56Chapter 3.3.2.2 --- Constraint Satisfaction --- p.58Use of Representation of Rotations by Quaternion --- p.62Use of Singular Value Decomposition --- p.62Determination of the translational matrix --- p.63Chapter 3.3.3 --- Second Version of the Six-point Algorithm --- p.64Chapter 3.3.4 --- Experiment --- p.65Chapter 3.3.4.1 --- With Synthetic Data --- p.66Experiment One: With Fixed Motion --- p.66Experiment Two: With Motion Generated Randomly --- p.77Chapter 3.3.4.2 --- With Real Data --- p.93Chapter 3.3.5 --- Summary of the Six-Point Algorithm --- p.93Chapter 3.3.6 --- A Visual Tracking System by using Six-point Algorithm --- p.95Chapter 3.4 --- Comparison between TL-algorithm and Six-point Algorithm developed --- p.97Chapter 3.5 --- Summary --- p.102Chapter 4 --- Motion-based Segmentation --- p.104Chapter 4.1 --- A new Approach with 3D-to-3D Point Correspondences --- p.104Chapter 4.1.1 --- Algorithm --- p.105Chapter 4.1.2 --- Experiment --- p.109Chapter 4.2 --- A new Approach with 2D-to-3D Point Correspondences --- p.112Chapter 4.2.1 --- Algorithm --- p.112Chapter 4.2.2 --- Experiment --- p.116Chapter 4.2.2.1 --- Experiment using synthetic data --- p.116Chapter 4.2.2.2 --- Experiment using real image sequence --- p.119Chapter 4.3 --- Summary --- p.119Chapter 5 --- 3D Object Recognition --- p.121Chapter 5.1 --- Proposed Algorithm for the 3D Object Recognition --- p.122Chapter 5.1.1 --- Hypothesis step --- p.122Chapter 5.1.2 --- Verification step --- p.124Chapter 5.2 --- 3D Object Recognition System --- p.125Chapter 5.2.1 --- System in Matlab: --- p.126Chapter 5.2.2 --- System in Visual C++ --- p.129Chapter 5.3 --- Experiment --- p.131Chapter 5.3.1 --- System in Matlab --- p.132Chapter 5.3.2 --- System in Visual C++ --- p.136Chapter 5.4 --- Summary --- p.139Chapter 6 --- Conclusions --- p.140REFERENCES --- p.142APPENDIXChapter A --- Representation of Rotations by Quaternion --- p.152Chapter B --- Constrained Optimization --- p.15