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An Invitation to 3-D Vision: From Images to Geometric Models
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TLDR
In this paper, the authors introduce the geometry of 3D vision, that is, the reconstruction of 3-D models of objects from a collection of 2-D images, and develop practical reconstruction algorithms and discuss possible extensions of the theory.Abstract:
This book introduces the geometry of 3-D vision, that is, the reconstruction of 3-D models of objects from a collection of 2-D images. It details the classic theory of two view geometry and shows that a more proper tool for studying the geometry of multiple views is the so-called rank consideration of the multiple view matrix. It also develops practical reconstruction algorithms and discusses possible extensions of the theory.read more
Citations
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Journal ArticleDOI
Visual servo control. I. Basic approaches
TL;DR: This paper is the first of a two-part series on the topic of visual servo control using computer vision data in the servo loop to control the motion of a robot using basic techniques that are by now well established in the field.
Proceedings ArticleDOI
SVO: Fast semi-direct monocular visual odometry
TL;DR: A semi-direct monocular visual odometry algorithm that is precise, robust, and faster than current state-of-the-art methods and applied to micro-aerial-vehicle state-estimation in GPS-denied environments is proposed.
Journal ArticleDOI
Visual servo control. II. Advanced approaches [Tutorial]
TL;DR: This tutorial has only considered velocity controllers, which is convenient for most of classical robot arms and geometrical features coming from a classical perspective camera is considered.
Journal ArticleDOI
Looking at Vehicles on the Road: A Survey of Vision-Based Vehicle Detection, Tracking, and Behavior Analysis
TL;DR: This paper provides a review of the literature in on-road vision-based vehicle detection, tracking, and behavior understanding, and discusses the nascent branch of intelligent vehicles research concerned with utilizing spatiotemporal measurements, trajectories, and various features to characterize on- road behavior.
Journal ArticleDOI
SVO: Semidirect Visual Odometry for Monocular and Multicamera Systems
TL;DR: A semidirect VO that uses direct methods to track and triangulate pixels that are characterized by high image gradients, but relies on proven feature-based methods for joint optimization of structure and motion is proposed.
References
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A Mathematical Introduction to Robotic Manipulation
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
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An introduction to differentiable manifolds and Riemannian geometry
TL;DR: In this article, the authors present a revised edition of one of the classic mathematics texts published in the last 25 years, which includes updated references and indexes and error corrections and will continue to serve as the standard text for students and professionals in the field.
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Theory of Reconstruction from Image Motion
TL;DR: Theory of Reconstruction from Image Motion presents the mathematics underlying the reconstruction of camera motion from the movements of points in the camera image, employing mathematical methods drawn from linear algebra, projective geometry, algebraic geometry, the theory of transversality and the theories of least squares approximation.
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Motion and Structure from Image Sequences
TL;DR: In this paper, a computational approach to image matching has been developed that uses multiple attributes associated with images to yield a generally overdetermined system of matching constraints, taking into account possible structural discontinuities and occlusions.