Three-Dimensional Computer Vision: A Geometric Viewpoint / Edition 1

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Overview

This monograph by one of the world's leading vision researchers provides a thorough,mathematically rigorous exposition of a broad and vital area in computer vision: the problems and techniques related to three-dimensional (stereo) vision and motion. The emphasis is on using geometry to solve problems in stereo and motion, with examples from navigation and object recognition.Faugeras takes up such important problems in computer vision as projective geometry,camera calibration, edge detection, stereo vision (with many examples on real images), different kinds of representations and transformations (especially 3-D rotations), uncertainty and methods of addressing it, and object representation and recognition. His theoretical account is illustrated with the results of actual working programs.Three-Dimensional Computer Vision proposes solutions to problems arising from a specific robotics scenario in which a system must perceive and act. Moving about an unknown environment, the system has to avoid static and mobile obstacles, build models of objects and places in order to be able to recognize and locate them, and characterize its own motion and that of moving objects, by providing descriptions of the corresponding three-dimensional motions. The ideas generated, however, can be used indifferent settings, resulting in a general book on computer vision that reveals the fascinating relationship of three-dimensional geometry and the imaging process.Olivier Faugeras is Research Director of the Computer Vision and Robotics Laboratory at INRIA Sophia-Antipolis and a Professor of Applied Mathematics at the Ecole Polytechnique inParis.

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Editorial Reviews

Booknews
Faugeras, one of the world's leading vision researchers, provides a thorough, mathematically rigorous exposition of the problems and techniques related to three-dimensional (stereo) computer vision and motion. The emphasis is on using geometry to solve problems in stereo and motion, with examples from navigation and object recognition. Each chapter includes a series of problems of varying degrees of difficulty (with answers at the back of the volume) intended to help readers understand the material in the chapter and to complement this material. Annotation c. Book News, Inc., Portland, OR (booknews.com)
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Product Details

  • ISBN-13: 9780262061582
  • Publisher: MIT Press
  • Publication date: 11/19/1993
  • Series: Artificial Intelligence Series
  • Edition description: New Edition
  • Edition number: 1
  • Pages: 695
  • Product dimensions: 8.00 (w) x 9.00 (h) x 2.00 (d)

Meet the Author

Olivier Faugeras is Research Director and head of a computer vision group at INRIA and AdjunctProfessor of Electrical Engineering and Computer Science at the Massachusetts Institute ofTechnology. He is the author of Three-Dimensional Computer Vision (MIT Press,1993).

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Table of Contents

Series Foreword
Figures
Tables
Preface
1 Introduction 1
2 Projective Geometry 7
3 Modeling and Calibrating Cameras 33
4 Edge Detection 69
5 Representing Geometric Primitives and Their Uncertainty 125
6 Stereo Vision 165
7 Determining Discrete Motion from Points and Lines 245
8 Tracking Tokens over Time 301
9 Motion Fields of Curves 341
10 Interpolating and Approximating Three-Dimensional Data 403
11 Recognizing and Locating Objects and Places 483
12 Answers to Problems 559
A. Constrained Optimization 623
B. Some Results from Algebraic Geometry 625
C. Differential Geometry 629
Bibliography 635
Index 659
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