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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 洪一平(Yi-Ping Hung) | |
| dc.contributor.author | Rong-Rong Zhang | en |
| dc.contributor.author | 張蓉蓉 | zh_TW |
| dc.date.accessioned | 2022-11-24T03:22:22Z | - |
| dc.date.available | 2021-11-08 | |
| dc.date.available | 2022-11-24T03:22:22Z | - |
| dc.date.copyright | 2021-11-08 | |
| dc.date.issued | 2021 | |
| dc.date.submitted | 2021-10-03 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/80929 | - |
| dc.description.abstract | 攝影機絕對位姿回歸是一類單一影像攝影機定位的方法。它將三維場景的資訊編碼於端到端的神經網路中，因此它估計位姿所需的時間少於基於結構的定位方法。在本論文中，我提出了一個使用 RGB-D 影像的絕對位姿回歸方法，旨在融合顏色和深度資訊以達到更準確的定位效果。我使用了雙流網路架構來分別處理彩色影像和深度影像，並結合人工設計的基底位姿來減輕網路受限於訓練資料中運動軌跡的影響。為了和現有的絕對位姿回歸方法比較，我在室內和室外資料集上評估了此方法的定位表現。實驗結果顯示此方法改善了效能。 | zh_TW |
| dc.description.provenance | Made available in DSpace on 2022-11-24T03:22:22Z (GMT). No. of bitstreams: 1 U0001-1409202121575900.pdf: 16081195 bytes, checksum: 274d80b4cb458cd112aa721bd03a4edb (MD5) Previous issue date: 2021 | en |
| dc.description.tableofcontents | 摘要 i Abstract ii Contents iii List of Figures v List of Tables vii Chapter 1 Introduction 1 Chapter 2 Related Works 3 2.1 End-to-End Approaches 4 2.1.1 Absolute Camera Pose Regression 4 2.1.2 Multi-task Regression 10 2.2 Step-by-Step Approaches 10 2.2.1 Relative Camera Pose Regression with Image Retrieval 10 2.2.2 Structured-based Localization with Scene Coordinate Regression 11 2.2.3 Structured-based Localization with Image Retrieval 13 Chapter 3 Proposed Method 14 3.1 A Theory of Absolute Camera Pose Regression 14 3.1.1 Theoretical Model 14 3.1.2 Rotation Formalisms 15 3.1.3 Base Poses 16 3.2 Network Architecture 18 3.3 Loss Function 19 3.4 Training Mechanism 22 3.5 Implementation Details 22 3.5.1 Depth Completion 23 3.5.2 Selection of Handcrafted Base Poses 24 Chapter 4 Experiments 26 4.1 Datasets 26 4.2 Comparison with Prior Methods 28 4.3 Ablation Studies 30 4.3.1 Effect of Depth Completion 31 4.3.2 Comparison of Different Base Poses 32 4.3.3 Comparison of Different Network Architectures 34 Chapter 5 Conclusions 35 Chapter 6 Future Work 36 References 37 | |
| dc.language.iso | en | |
| dc.subject | 攝影機位姿估計 | zh_TW |
| dc.subject | 攝影機絕對位姿回歸 | zh_TW |
| dc.subject | 單一影像攝影機定位 | zh_TW |
| dc.subject | 雙流網路 | zh_TW |
| dc.subject | 人工設計的基底位姿 | zh_TW |
| dc.subject | Camera pose estimation | en |
| dc.subject | Absolute camera pose regression | en |
| dc.subject | Single-shot camera localization | en |
| dc.subject | Dual-stream network | en |
| dc.subject | Handcrafted base poses | en |
| dc.title | 使用 RGB-D 雙流網路與人工設計的基底位姿之攝影機絕對位姿回歸 | zh_TW |
| dc.title | Absolute Camera Pose Regression Using RGB-D Dual-Stream Network and Handcrafted Base Poses | en |
| dc.date.schoolyear | 109-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 陳祝嵩(Hsin-Tsai Liu),陳冠文(Chih-Yang Tseng) | |
| dc.subject.keyword | 攝影機絕對位姿回歸,單一影像攝影機定位,雙流網路,人工設計的基底位姿,攝影機位姿估計, | zh_TW |
| dc.subject.keyword | Absolute camera pose regression,Single-shot camera localization,Dual-stream network,Handcrafted base poses,Camera pose estimation, | en |
| dc.relation.page | 43 | |
| dc.identifier.doi | 10.6342/NTU202103180 | |
| dc.rights.note | 同意授權(限校園內公開) | |
| dc.date.accepted | 2021-10-05 | |
| dc.contributor.author-college | 電機資訊學院 | zh_TW |
| dc.contributor.author-dept | 資訊工程學研究所 | zh_TW |
| 顯示於系所單位： | 資訊工程學系 | |
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