請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/45515
完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 王傑智 | |
dc.contributor.author | Chen-Yu Huang | en |
dc.contributor.author | 黃貞毓 | zh_TW |
dc.date.accessioned | 2021-06-15T04:24:33Z | - |
dc.date.available | 2014-09-08 | |
dc.date.copyright | 2009-09-08 | |
dc.date.issued | 2009 | |
dc.date.submitted | 2009-08-31 | |
dc.identifier.citation | Baker, S. & Nayar, S. K. (1999). A theory of single-viewpoint catadioptric image formation. International Journal of Computer Vision, 35(2), 1 – 22.
Bouguet, J.-Y. (2004). Camera Calibration Toolbox for MATLAB. Davies, E. R. (1984). Circularity - a new principle underlying the design of accurate edge orientation operators. Image Vision Comput., 2(3), 134–142. Francken, Y., Hermans, C., & Bekaert, P. (2007). Screen-camera calibration using a spherical mirror. In CRV ’07: Proceedings of the Fourth Canadian Conference on Computer and Robot Vision, (pp. 11–20). Guil, N. & Zapata, E. L. (1997). Lower order circle and ellipse hough transform. J. Pattern Recognition, 30, 1729–1744. Hansen, P., Corke, P., Boles, W., & Daniilidis, K. (2007). Scale invariant feature matching with wide angle images. In IROS ’07: International Conference on Intelligent Robots and Systems, (pp. 1689–1694). Harris, C. & Stephens, M. (1988). A combined corner and edge detection. In Proceedings of The Fourth Alvey Vision Conference, (pp. 147–151). Kanbara, M., Ukita, N., Kidode, M., & Yokoya, N. (2006). 3d scene reconstruction from reflection images in a spherical mirror. In ICPR ’06: Proceedings of the 18th International Conference on Pattern Recognition, (pp. 874–879). Lanman, D., Crispell, D., Wachs, M., & Taubin, G. (2006). Spherical catadioptric arrays: Construction, multi-view geometry, and calibration. In 3DPVT ’06: Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT’06), (pp. 81–88). Li, H., Lavin, M. A., & Master, R. J. L. (1986). Fast hough transform: A hierarchical approach. Comput. Vision Graph. Image Process., 36(2-3), 139–161. Lowe, D. G. (1999). Object recognition from local scale-invariant features. In International Conference on Computer Vision, (pp. 1150–1157). Lowe, D. G. (2004). Distinctive image features from scale-invariant keypoints. International Journal of Computer Vision, 60(2), 91–110. Nayar, S. K. (1988). Sphereo: Determining depth using two specular spheres and a single camera. In 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/45515 | - |
dc.description.abstract | 以二維影像重建三維場景,在機器人學與電腦視覺中有許多的應用,例如:機器人導航技術、三維物件辨識……等。其中,寬廣的視角對於此項技術是十分必要的。然而,通常一般相機所能提供的視角有限,因此,在此篇論文中,我們利用可旋轉式攝影機(Pan-Tilt-Zoom camera)與鏡球結合可增加視角的特性,來實現三維場景重建,並且進而考慮環境%@A%垺不確定性。移動鏡球偵側與定位的不確定性,我們以大量樣本(sample)來表示,之後,結合兩張不同影像之樣本,來獲取特徵點位置資訊。而我們以高斯分佈表示每一個特徵點位置,並利用卡爾曼濾波器(Kalman filter)作更新。實驗結果驗證了此方法的可行性。 | zh_TW |
dc.description.abstract | Three-dimensional scene reconstruction from 2D images can serve as a foundation for solving a number of robotics and computer vision problems such as robot navigation and 3D object recognition in which covering a large field of view could be critical. As conventional cameras have limited fields of view, we propose an approach to reconstruct large 3D scene models using a combination of a pan-tilt-zoom (PTZ) camera and a moving spherical mirror. The proposed system provides uncertainty estimates of the scene model. The uncertainty of moving spherical mirror detection and localization is represented using samples. Two images are used to compute a location measurement of a 3D point in the scene in which the combinations of the sample sets of the two mirror locations are exploited and location measurements of 3D points are represented using Gaussian distributions. Localization of 3D points in the scene is done using a Kalman filter. The experimental results demonstrate the feasibility of the proposed system. | en |
dc.description.provenance | Made available in DSpace on 2021-06-15T04:24:33Z (GMT). No. of bitstreams: 1 ntu-98-R95922146-1.pdf: 9609201 bytes, checksum: a6b699df43d29b975da93864e3a21114 (MD5) Previous issue date: 2009 | en |
dc.description.tableofcontents | ABSTRACT ii
LIST OF FIGURES v CHAPTER 1. Introduction 1 CHAPTER 2. Related Work 5 2.1. Catadioptric System 5 2.2. Spherical Catadioptric System 6 CHAPTER 3. The Camera Model 7 CHAPTER 4. Spherical Mirror Localization 11 4.1. Spherical Mirror Detection 11 4.1.1. Fast Hough Transform (FHT) 11 4.1.2. Fast Circle Hough Transform (FCHT) 14 4.2. 3D Position Estimation of the Spherical Mirror 20 CHAPTER 5. Feature Extraction and Matching 22 5.1. Harris corner detector 23 5.2. Scale Invariant Feature Transform (SIFT) 23 5.3. Feature Matching with Wide Angle Images 23 CHAPTER 6. 3D Reconstruction of Feature Points 25 6.1. 3D Reconstruction of Feature Points 25 CHAPTER 7. Uncertainty Estimation 29 CHAPTER 8. Experiment 31 8.1. Hardware and Dataset 31 8.2. Experiment: The Camera Mode 33 8.3. Experiment: Spherical Mirror Localization 34 8.4. Experiment: Scene Reconstruction Result 36 CHAPTER 9. Conclusion and Future Work 40 BIBLIOGRAPHY 41 | |
dc.language.iso | en | |
dc.title | 以PTZ相機與移動鏡球之三維場景重建系統 | zh_TW |
dc.title | Scene Reconstruction using a Pan-Tilt-Zoom Camera with a Moving Spherical Mirror | en |
dc.type | Thesis | |
dc.date.schoolyear | 97-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 傅立成,傅楸善,連豊力,李明穗 | |
dc.subject.keyword | 三維場景重建,不確定性估測,鏡球,可旋轉式攝影機, | zh_TW |
dc.subject.keyword | Scene Reconstruction,Uncertainty Estimation,Spherical Mirror,PTZ Camera, | en |
dc.relation.page | 42 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2009-08-31 | |
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 |
文件中的檔案:
檔案 | 大小 | 格式 | |
---|---|---|---|
ntu-98-1.pdf 目前未授權公開取用 | 9.38 MB | Adobe PDF |
系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。