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Geometric computation for machine vision

Geometric computation for machine vision (4회 대출)

자료유형
단행본
개인저자
Kanatani, Kenichi, 1947-
서명 / 저자사항
Geometric computation for machine vision / Kenichi Kanatani.
발행사항
Oxford :   Clarendon Press ;   New York :   Oxford University Press,   1993.  
형태사항
xii, 476 p. : ill. ; 24 cm.
총서사항
Oxford science publications.
ISBN
019856385X
서지주기
Includes bibliographical references (p. [364]-380) and index.
일반주제명
Computer vision.
000 00815camuuu200241 a 4500
001 000000900064
005 19990106154906.0
008 930114s1993 enka b 001 0 eng
010 ▼a 93012132
020 ▼a 019856385X
040 ▼a DLC ▼c DLC ▼d 244002
049 0 ▼l 151004333
050 0 0 ▼a TJ211.3 ▼b .K36 1993
082 0 0 ▼a 006.3/7/015165 ▼2 20
090 ▼a 006.37 ▼b K16g
100 1 ▼a Kanatani, Kenichi, ▼d 1947-
245 1 0 ▼a Geometric computation for machine vision / ▼c Kenichi Kanatani.
260 ▼a Oxford : ▼b Clarendon Press ; ▼a New York : ▼b Oxford University Press, ▼c 1993.
300 ▼a xii, 476 p. : ▼b ill. ; ▼c 24 cm.
440 0 ▼a Oxford science publications.
440 4 ▼a The Oxford engineering science series ; ▼v 37.
504 ▼a Includes bibliographical references (p. [364]-380) and index.
650 0 ▼a Computer vision.

소장정보

No. 소장처 청구기호 등록번호 도서상태 반납예정일 예약 서비스
No. 1 소장처 세종학술정보원/과학기술실/ 청구기호 006.37 K16g 등록번호 151004333 도서상태 대출가능 반납예정일 예약 서비스 C M

컨텐츠정보

목차


CONTENTS
1 Introduction = 1
 1.1 The Background of Machine Vision = 1
 1.2 The Aim of This Book = 4
 1.3 The Organization of This Book = 6
  1.3.1 Computational projective geometry = 6
  1.3.2 Translational motion, stereo and 3-D rotation = 7
  1.3.3 Analysis of 3-D motion and optical flow = 9
  1.3.4 Analysis of conics = 11
  1.3.5 Statistical analysis of geometric computation = 12
 1.4 Bibliographical Notes = 13
2 Computational Projective Geometry, 1 = 15
 2.1 Geometry of Perspective Projection = 15
  2.1.1 Interpretation of N-vectors = 15
  2.1.2 Vanishing points and vanishing lines = 19
 2.2 Computation of points and Lines = 20
  2.2.1 Fundamental duality of N-vectors = 20
  2.2.2 Collinearity of points and concurrency of lines = 21
 2.3 Geometry of 2-D Projective Space = 25
  2.3.1 Collineations and camera rotation transformations = 25
  2.3.2 Correlations, polarities, conjugacy, and conics = 28
 2.4 Cross Ratio and Projective Coordinates = 30
  2.4.1 Percpective invariance of cross ratio = 30
  2.4.2 Projective invariance of cross ratio = 35
  2.4.3 Harmonic Range of Points = 40
 2.5 Bibliographical Notes = 42
 Exercises = 43
3 Computational Projective Geometry, 2 = 51
 3.1 Geometry of Standard Polarity = 51
  3.1.1 The absolute conic and its polarity = 51
  3.1.2 Conjugacy and orthogonality = 54
 3.2 Camera Calibration = 56
  3.2.1 Determination of the focal length = 56
  3.2.2 Pose parameters and motion parameters = 60
  3.2.3 Constraints on rectangles and squares = 63
 3.3 3-D Road Shape Reconstruction = 65
  3.3.1 Modelling ideal roads = 65
  3.3.2 Local-flatness approximation = 67
  3.3.3 3-D reconstruction by curve fitting = 69
 3.4 Bibliographical Notes = 72
 Exercises = 74
4 Translational Motion and Stereo = 77
 4.1 Analysis of Translational Motion = 77
  4.1.1 N-velosities and trajectories = 77
  4.1.2 Focus of expansion = 78
  4.1.3 Constant velocity motion = 80
  4.1.4 Vanishing points and line orientations = 82
 4.2 Motion Parallax = 84
  4.2.1 Motion Prallax of a point = 84
  4.2.2 Representation of a space line = 86
  4.2.3 Motion parallax of a line = 89
  4.2.4 Motion parallax for general motion = 91
 4.3 Analysis of Stereo = 92
  4.3.1 Epipolars and epipole = 92
  4.3.2 Disparity maps and depth maps = 94
  4.3.3 Converging stereo = 95
 4.4 Bibliographical Notes = 96
 Exercises = 98
5 Computation of 3-D Rotation = 100
 5.1 Representation of 3-D Rotation = 100
  5.1.1 Rotation matrices = 100
  5.1.2 Axis and angle of rotation = 102
 5.2 Optimal Estimation of 3-D Rotation = 105
  5.2.1 Least-squares estimation of 3-D Rotation = 105
  5.2.2 Singular value decomposition = 109
  5.2.3 Polar decomposition = 112
  5.2.4 Quatermion representation = 114
 5.3 Orthogonality Recovery = 117
  5.3.1 Orthogonality fitting = 117
  5.3.2 Orthogonal frame reconstruction = 118
  5.3.3 Optimal resolution = 121
 5.4 Spherical Optimization Search = 123
  5.4.1 Optimzation of pose and orientation = 123
  5.4.2 Quadratic search = 124
  5.4.3 Model update search = 128
 5.5 Bibliographical Nites = 130
 Exercises = 132
6 Analysis of 3-D Rigid Motion = 143
 6.1 Representation of Planar Surface Motion = 143
  6.1.1 Planar Surface Motion = 143
  6.1.2 Collineation of Planar Surface Motion = 146
 6.2 3-D Interpretation of Planar Surface Motion = 148
  6.2.1 Analytical solution = 148
  6.2.2 Ambiguity of Planar Surface Motion = 151
 6.3 Determination of Collineation = 153
 6.4 3-D Interpretation from Poimt Correspondence = 156
  6.4.1 General formulation = 156
  6.4.2 Optimazation search = 158
 6.5 Least-Squares Point Correspondence Algorithm = 160
  6.5.1 Essential matrix and eight-point Algorithm = 160
  6.5.2 Rodust analytical solution = 161
  6.5.3 Decomposavility and uniqueness = 165
 6.6 3-D Interpretation from Line Correspondence = 166
  6.6.1 General formulation = 166
  6.6.2 Optimization search = 168
 6.7 Least-Squares Line Correspondence Algorithm = 170
  6.7.1 Essential parameters and thirteen-line Algorithm = 170
  6.7.2 Robust analytical solution = 171
  6.7.3 Uniqueness of the solution = 177
 6.8 Ambiguity of 3-D Interpretation = 178
  6.8.1 Critical surface for point correspondence = 178
  6.8.2 Degeneracy into two planar surfaces = 183
  6.8.3 Critical line congruence for line correspondence = 185
 6.9 Bibliographical Notes = 188
 Exercises = 191
7 Analysis of Optical Flow = 196
 7.1 Representation of Planar Surface Optical Flow = 196
  7.1.1 Infinitesimal surface motion = 196
  7.1.2 Optical flow and flow matrix = 197
  7.1.3 Optical flow of lines and dual flow = 199
 7.2 3-D Interpretation of Planar Surface Optical Flow = 200
  7.2.1 Optical flow and motion parameters = 200
  7.2.2 Analytical solution = 201
 7.3 Determination of the Flow Matrix = 203
  7.3.1 Flow-based approach = 203
  7.3.2 Contour-based approach = 206
 7.4 Representation of General Optical Flow = 208
  7.4.1 General optical Flow equation = 208
  7.4.2 Twisted flow and the epipolar equation = 210
 7.5 3-D Interpretation of General Optical Flow = 212
  7.5.1 Least-squares algorithm = 212
  7.5.2 Optimization search = 215
 7.6 Critical Surface of Optical Flow = 217
  7.6.1 Critical surface squation = 217
  7.6.2 Degeneracy into two planes = 220
 7.7 Bibliographical Nites = 221
 Exercises = 223
8 Analysis of Conics = 228
 8.1 Conics and Their Canonical Forms = 228
  8.1.1 Representation of a conic = 228
  8.1.2 Canonical form of a conic = 229
 8.2 Polarity of a conic = 231
  8.2.1 Poles, polars, and tangents = 231
  8.2.2 Conjugacy of points and lines = 234
 8.3 Intersections and Orthogonality = 235
  8.3.1 Intersections of a conic woth a line = 235
  8.3.2 Interpretation of rectangular corners = 237
 8.4 Conic Fitting = 240
  8.4.1 Existence and uniqueness = 240
  8.4.2 Least-squares fitting = 240
 8.5 3-D interpretation of a conic = 242
  8.5.1 The supporting plane and the true shape = 242
  8.5.2 3-D interpretation of a circle = 246
  8.5.3 3-D interpretation of an ellipse = 251
 8.6 Mapping of Conics and Invisible Motions = 258
  8.6.1 Group of invisible motions = 258
  8.6.2 Mapping of conics = 260
  8.6.3 Standard circle = 262
 8.7 Invisible Optical Flows = 263
  8.7.1 Representation of invisible flows = 263
  8.7.2 Adjoint transformation of invisible flows = 266
 8.8 Deformation of a conic = 268
  8.8.1 Linear space of conic deformations = 268
  8.8.2 Normal flow along a conic = 271
 8.9 3-D Interpretation of a Moving Conic = 271
  8.9.1 Finite motion of a conic = 271
  8.9.2 Infinitesimal motion of a conic = 273
 8.10 Bibliographical Notes = 275
 Exercises = 277
9 Statistical Analysis of Geometric Computation, 1 = 280
 9.1 Stastistical Model of Noise = 280
  9.1.1 Covariance matrix of an N-vector = 280
  9.1.2 Model of noise = 282
  9.1.3 Effective focal length = 283
 9.2 Covariance Matrices of Joins and Intersections = 284
 9.3 Optimal Least-Squares Estimation = 287
  9.3.1 Optimal weights and optimal estimation = 287
  9.3.2 Covariance matrix of optimal estimation = 289
  9.3.3 Statistical bias of optimal estimation = 292
 9.4 Edge Fitting, Vanishing Points, and Focuses of Espansion = 294
  9.4.1 Error in edge fitting = 294
  9.4.2 Error in vanishing points = 297
  9.4.3 Error in focuses of expansion = 300
 9.5 statistics of Rotation Fitting = 305
  9.5.1 Covariance matrix of 3-D rotation = 305
  9.5.2 Covariance matrix of the best fitting rotation = 305
 9.6 Statistics of Depth from Stereo = 309
  9.6.1 Sources of error = 309
  9.6.2 Error due to image noise = 310
  9.6.3 Error due to uncertainyt of camera orientation = 311
  9.6.4 Error due to uncertainty of base-line = 312
 9.7 Bibliographical Notes = 314
 Exercises = 315
10 statistical Analysis of Geometric Computation, 2 = 318
 10.1 Statistics of Focal Length Calibration = 318
  10.1.1 Reliability of focal length estimation = 318
  10.1.2 Optimal estimatin of focal lingth = 322
 10.2 Statistical Analysis of 3-D Motion Estimation = 326
  10.2.1 Statistical bias of motion parameters = 326
  10.2.2 Small object approximation = 330
  10.2.3 Unbiased motion parameter estimation = 333
 10.3 Statistics of Conic Fitting = 336
  10.3.1 Optimal conic fitting = 336
  10.3.2 Covariance tensor of conic fitting = 337
  10.3.3 Statistical bias of conic fitting = 340
  10.3.4 Unbiased conic fitting = 346
 10.4 Hypothesizing and Testing Geometric Configurations = 349
  10.4.1 Gaussian approximation = 349
  10.4.2 Testing edge groupings = 350
  10.4.3 Testing vanishing points = 352
  10.4.4 Testing focuses of expansion = 354
  10.4.5 Testing vanishing lines = 355
 10.5 Bibliographical Notes = 357
 Exercises = 360
References = 364
Answers = 381
Index = 468


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