Solving for relative orientation and depth
department or school: Science, Faculty of
department or school: Computer Science, Department of
data provider: DSpace
degree campus: UBCV
creator: McReynolds, Daniel Peter
issued: 2010-08-31T18:18:26Z
issued: 1988
related degree: Master of Science - MSc
degree grantor: University of British Columbia
description: A translating and rotating camera acquires images of a static scene from disparate viewpoints. Given a minimum number of corresponding image tokens from two or more images, the rotation and translation (referred to as the relative orientation) of the camera, and the relative depths of the tokens, can be computed between the views. Image tokens, which can be points or lines, are deemed corresponding if they arise from the same physical entity. The process of determining corresponding tokens is assumed to be known. This thesis poses the problem of solving for relative orientation and depth. The solution to this problem has applications in building object or scene models from multiple views and in passive navigation. A minimum of five corresponding pairs of points, measured from two perspective projection images, are required. In the case of lines, the measurements of six corresponding sets of lines, from a minimum of three images, are necessary for a unique solution. The algorithm simultaneously determines the rotation and translation of the camera between the images and the three dimensional position of the matched scene tokens. The translation and depth can only be determined up to a global scale factor. It is assumed that the motion of the camera or object is rigid. The equations that describe the motion and scene structure are nonlinear in the camera model parameters. Newton's method is used to perform the nonlinear parameter estimation. The camera model is based on the collinearity condition, well known in the area of photogrammetry. This condition states that the focal point, image point and object point must all lie on the same line under perspective projection. This approach differs from other similar approaches in the choice of model parameters and in the formulation of the collinearity condition. The formulation for line correspondences turns out to be an easy extension of the point formulation. To improve the range of convergence and the robustness of the a…
aggregated CHO: https://circle.library.ubc.ca/rest/handle/2429/28023
note: SOLVING FOR RELATIVE ORIENTATION A N D DEPTH By Daniel Peter McReynolds B.Eng., Carleton University, 1981 A THESIS SUBMITTED IN PARTIAL F U L F I L L M E N T OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF SCIENCE in THE F A C U L T Y OF G R A D U A T E STUDIES Department of Computer Science We accept this thesis as conforming to the required standard THE UNIVERSITY OF BRITISH C O L U M B I A October 1988 © Daniel Peter McReynolds, 1988 In presenting this thesis in partial fulfilment of the requirements for an advanced degree at the University of British Columbia, I agree that the Library shall make it freely available for reference and study. I further agree that permission for extensive copying of this thesis for scholarly purposes may be granted by the head of my department or by his or her representatives. It is understood that copying or publication of this thesis for financial gain shall not be allowed without my written permission. Department of Co/lfbT'g'F S^/£r/VCf The University of British Columbia Vancouver, Canada Date 0c7c)3£Z M. /?<?<? DE-6 (2/88) Abstract A translating and rotating camera acquires images of a static scene from disparate viewpoints. Given a minimum number of corresponding image tokens from two or more images, the rotation and translation (referred to as the relative orientation) of the camera, and the relative depths of the tokens, can be computed between the views. Image tokens, which can be points or lines, are deemed corresponding if they arise from the same physical entity. The process of determining corresponding tokens is assumed to be known. This thesis poses the problem of solving for relative orientation and depth. The solution to this problem has applications in building object or scene models from multiple views and in passive navigation. A minimum of five corresponding pairs of points, measured from two perspective projection images, are required. In the case of lines, the measurements of six corresponding sets of lines, fr…
has type: Thesis/Dissertation
is shown at: 10.14288/1.0051262
language: eng
degree discipline: Computer Science
provider: Vancouver : University of British Columbia Library
publisher: University of British Columbia
rights: For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
scholar level: Graduate
type: Text
identifier URI: http://hdl.handle.net/2429/28023