Projective minimal analysis of camera geometry

This thesis addresses the general problem of how to find globally consistent and accurate estimates of multiple-view camera geometry from uncalibrated imagery of an extended scene. After decades of study, the classic problem of recovering camera motion from image correspondences remains an active area of research. This is due to the practical difficulties of estimating many interacting camera parameters under a variety of unknown imaging conditions. Projective geometry offers a useful framework for analyzing uncalibrated imagery. However, the associated multilinear models-the fundamental matrix and trifocal tensorare redundant in that they allow a camera configuration to vary along many more degrees of freedom than are geometrically admissible. This thesis presents a novel, minimal projective model of uncalibrated view triplets in terms of the dependent epipolar geometries among view pairs. By explicitly modeling the trifocal constraints among projective bifocal parameters-the epipoles and epipolar collineations-this model guarantees a solution that lies in the valid space of projective camera configurations. We present a nonlinear incremental algorithm for fitting the trifocally constrained epipolar geometries to observed image point matches. The minimal trifocal model is a practical alternative to the trifocal tensor for commonly found image sequences in which the availability of matched point pairs varies widely among different view pairs. Experimental results on synthetic and real image sequences with typical asymmetries in view overlap demonstrate the improved accuracy of the new trifocally constrained model.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2002

Author dc:creator

• Romano, Raquel Andrea

Advisor dc:contributor.advisor

• W. Eric L. Grimson and Olivier D. Faugeras.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/29231

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/29231