2009. 7. 15. 16:49
Computer Vision
Klein, G. and Murray, D. 2007.
Parallel Tracking and Mapping for Small AR Workspaces
In Proceedings of the 2007 6th IEEE and ACM international Symposium on Mixed and Augmented Reality - Volume 00 (November 13 - 16, 2007). Symposium on Mixed and Augmented Reality. IEEE Computer Society, Washington, DC, 1-10. DOI= http://dx.doi.org/10.1109/ISMAR.2007.4538852
Georg Klein
David Murray
Active Vision Laboratory, Department of Engineering Science, University of Oxford
Source Code & Usage Example
Joint Compatibility Branch and Bound (JCBB)
http://en.wikipedia.org/wiki/JCBB
RANdom SAmple Consensus (RANSAC)
http://en.wikipedia.org/wiki/RANSAC
coarse-to-fine approach
batch method
bundle adjustment
http://en.wikipedia.org/wiki/Bundle_adjustment
Structure-from-Motion (SfM)
five-point stereo
http://en.wikipedia.org/wiki/Eight-point_algorithm
5-point algorithm
http://portal.acm.org/citation.cfm?id=987623
Henrik Stew´enius, Christopher Engels, David Nist´er
Recent Developments on Direct Relative Orientation
epipolar feature search
intensity-patch descriptor
(feature-to-feature or camera-to-feature) correlation-based search
NCC (normalized cross correlation) search
http://en.wikipedia.org/wiki/Cross-correlation#Normalized_cross-correlation
Unibrain Fire-i digital camera
http://en.wikipedia.org/wiki/YUV411
FAST-10 corner detection
http://wapedia.mobi/en/Corner_detection
http://en.wikipedia.org/wiki/Corner_detection
decaying velocity model
barrel radial distortion
http://en.wikipedia.org/wiki/Distortion_(optics)
lie group SE(3)
affine warp
warping matrix <- (1) back-projecting unit pixel displacements in the source keyframe pyramid level onto the patch's plane and then (2) projecting these into the current (target) frame
inverse compositional image alignment
Tukey biweight objective function
M-estimator
http://en.wikipedia.org/wiki/M-estimator
Zhengyou Zhang, M-estimators
Shi-Tomasi corner detector
http://en.wikipedia.org/wiki/Levenberg-Marquardt
cubic-cost matrix factorization
http://en.wikipedia.org/wiki/Cubic_function
Parallel Tracking and Mapping for Small AR Workspaces
In Proceedings of the 2007 6th IEEE and ACM international Symposium on Mixed and Augmented Reality - Volume 00 (November 13 - 16, 2007). Symposium on Mixed and Augmented Reality. IEEE Computer Society, Washington, DC, 1-10. DOI= http://dx.doi.org/10.1109/ISMAR.2007.4538852
Parallel Tracking and Mapping for Small AR Workspaces.pdfGeorg Klein
David Murray
Active Vision Laboratory, Department of Engineering Science, University of Oxford
Source Code & Usage Example
1. parallel threads of tracking and mapping
2. mapping from smaller keyframes: batch techniques (Bundle Adjustment)
3. Initializing the map from 5-point Algorithm
4. Initializing new points with epipolar search
5. mapping thousands of points
2. mapping from smaller keyframes: batch techniques (Bundle Adjustment)
3. Initializing the map from 5-point Algorithm
4. Initializing new points with epipolar search
5. mapping thousands of points
Joint Compatibility Branch and Bound (JCBB)
http://en.wikipedia.org/wiki/JCBB
RANdom SAmple Consensus (RANSAC)
http://en.wikipedia.org/wiki/RANSAC
coarse-to-fine approach
batch method
bundle adjustment
http://en.wikipedia.org/wiki/Bundle_adjustment
Structure-from-Motion (SfM)
five-point stereo
http://en.wikipedia.org/wiki/Eight-point_algorithm
5-point algorithm
http://portal.acm.org/citation.cfm?id=987623
Henrik Stew´enius, Christopher Engels, David Nist´er
Recent Developments on Direct Relative Orientation
epipolar feature search
intensity-patch descriptor
(feature-to-feature or camera-to-feature) correlation-based search
NCC (normalized cross correlation) search
http://en.wikipedia.org/wiki/Cross-correlation#Normalized_cross-correlation
Unibrain Fire-i digital camera
http://en.wikipedia.org/wiki/YUV411
FAST-10 corner detection
http://wapedia.mobi/en/Corner_detection
http://en.wikipedia.org/wiki/Corner_detection
decaying velocity model
barrel radial distortion
http://en.wikipedia.org/wiki/Distortion_(optics)
lie group SE(3)
affine warp
warping matrix <- (1) back-projecting unit pixel displacements in the source keyframe pyramid level onto the patch's plane and then (2) projecting these into the current (target) frame
inverse compositional image alignment
Tukey biweight objective function
M-estimator
http://en.wikipedia.org/wiki/M-estimator
Zhengyou Zhang, M-estimators
Shi-Tomasi corner detector
http://en.wikipedia.org/wiki/Levenberg-Marquardt
cubic-cost matrix factorization
http://en.wikipedia.org/wiki/Cubic_function
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