Determining Three-Dimensional Motion and Structure of a Rigid Body Using Point and Straight Line Correspondences (Stereo, Graphics, Vector)
Yen, Robert Louis
This item is only available for download by members of the University of Illinois community. Students, faculty, and staff at the U of I may log in with your NetID and password to view the item. If you are trying to access an Illinois-restricted dissertation or thesis, you can request a copy through your library's Inter-Library Loan office or purchase a copy directly from ProQuest.
Permalink
https://hdl.handle.net/2142/69286
Description
Title
Determining Three-Dimensional Motion and Structure of a Rigid Body Using Point and Straight Line Correspondences (Stereo, Graphics, Vector)
Author(s)
Yen, Robert Louis
Issue Date
1984
Department of Study
Electrical Engineering
Discipline
Electrical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Electronics and Electrical
Abstract
The problem is the determination of the 3D motion and structure of a 3D object, using central projections of 3D points and 3D straight lines over a sequence of images. Over 2 frames, the 3D motion parameters to be determined are a 3D rotation and unit translation. Object structure can be determined as a map of relative depths of 3D points/lines. From point correspondences (PCs) and line correspondences (LCs) (which are assumed to be given), equations in terms of the 3D motion parameters are obtained and solved. A geometrical approach is taken, by using the unit sphere as the surface of projection and a homogeneous coordinate representation of points on it. For the case of PC methods, improvements and further insights are given. A simple derivation is shown for 2 basic equations. An improved linear method is given, for 3D objects with surfaces of arbitrary geometry. 2 new methods for determining a relative depth map of 3D points are described. For the case of LC methods, totally new and important results are described. It is important to note that a LC method can be applied as a PC method. A method over 2 frames is described (requiring the solution of non-linear equations), where the relative orientation of the 3D lines is known. A linear method over 2 frames is described, where the 3D lines lie on parallel planes. A method over 3 frames is described (requiring the solution of non-linear equations), where there is no constraint on the 3D motion or 3D line configuration. A linear method over 3 frames is described, where the 3D lines lying on parallel planes undergo a parallel screw motion over 3 frames. Given that rotation has been determined, a solution region to the unit translation can be determined as a patch on the unit sphere. If the unit translation can be uniquely determined, a map of relative depths of 3D lines can be determined. Simulation results are described for some of the PC and LC methods, including the effects on errors due to image quantization.
Use this login method if you
don't
have an
@illinois.edu
email address.
(Oops, I do have one)
IDEALS migrated to a new platform on June 23, 2022. If you created
your account prior to this date, you will have to reset your password
using the forgot-password link below.
