Structure from Motion using the Extended Kalman Filter

• Main Authors: Civera, Javier (Author), Davison, Andrew J. (Author), Martínez Montiel, José María (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2012.
• Series: Springer Tracts in Advanced Robotics, 75
• Subjects: Engineering.; Artificial intelligence.; Image processing.; Robotics.; Automation.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).; Image Processing and Computer Vision.

The fully automated estimation of the 6 degrees of freedom camera motion and the imaged 3D scenario using as the only input the pictures taken by the camera has been a long term aim in the computer vision community. The associated line of research has been known as Structure from Motion (SfM). An in...

Table of Contents:

• Introduction
• Points at Infinity. Mosaics using the Extended Kalman Filter
• Inverse Depth Parametrization
• 1-Point RANSAC
• Degenerate Camera Motions and Model Selection
• Self-calibration
• Conclusions.