Qualitative Motion Understanding

Qualitative Motion Understanding by Wilhelm Burger, Bir Bhanu.

Mobile robots operating in real-world, outdoor scenarios depend on dynamic scene understanding for detecting and avoiding obstacles, recognizing landmarks, acquiring models, and for detecting and tracking moving objects. Motion understanding has been an active research effort for more than a decade,...

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Bibliographic Details
Main Authors: Burger, Wilhelm (Author), Bhanu, Bir (Author)
Corporate Author: SpringerLink (Online service)
Format: eBook
Language:English
Published: New York, NY : Springer US : Imprint: Springer, 1992.
Edition:1st ed. 1992.
Series:The Springer International Series in Engineering and Computer Science, 184
Springer eBook Collection.
Subjects:
Optical data processing.
Artificial intelligence.
Control engineering.
Robotics.
Mechatronics.
Electronic resources (E-books)
Online Access:Click to view e-book
Holy Cross Note:Loaded electronically.
Electronic access restricted to members of the Holy Cross Community.
Table of Contents:
  • 1 Introduction
  • 1.1 Aims of Motion Understanding
  • 1.2 Autonomous Land Vehicle Navigation
  • 1.3 Multi-Level Vision and Motion Analysis
  • 1.4 Approaches to Motion Understanding
  • 1.5 Outline of this Book
  • 2 Framework for Qualitative Motion Understanding
  • 2.1 Moving Through a Changing Environment
  • 2.2 The “DRIVE” Approach
  • 2.3 Low-Level Motion
  • 2.4 Camera Motion and Scene Structure
  • 2.5 Detecting 3-D Motion
  • 2.6 Qualitative Modeling and Reasoning
  • 3 Eli ECTS OF CAMERA MOTION
  • 3.1 Viewing Geometry
  • 3.2 Effects of Camera Rotation
  • 3.3 Computing the Camera Rotation Angles
  • 3.4 Effects of Camera Translation
  • 3.5 Computing the Translation Parameters
  • 4 Decomposing Image Motion
  • 4.1 Motion Between Successive Frames
  • 4.2 FOE from Rotations
  • 4.3 Rotations from FOE
  • 5 THE FUZZY FOE
  • 5.1 Avoiding Unrealistic Precision
  • 5.2 Defining the Fuzzy FOE
  • 5.3 Computing the Fuzzy FOE
  • 5.4 Experiments
  • 6 Reasoning about Structure and Motion
  • 6.1 Abstracting Image Events
  • 6.2 Interpreting Image Events
  • 6.3 Reasoning About 3-D Scene Structure
  • 6.4 Reasoning About 3-D Motion
  • 7 The Qualitative Scene Model
  • 7.1 Basic Elements of the Model
  • 7.2 Representing Multiple Interpretations
  • 7.3 Conflict Resolution
  • 7.4 Dynamic Evolution of the QSM
  • 8 EXAMPLES
  • 8.1 Simulated Data
  • 8.2 Real Data
  • 8.3 Implementation Issues
  • 9 SUMMARY
  • A.1 Geometric Constraint Method for Camera Motion
  • A.2 Estimating Absolute Velocity
  • REFERENCES.

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