Pose tracking of multiple camera system.

Leung, Man Kin.Thesis submitted in: October 2008.Thesis (M.Phil.)--Chinese University of Hong Kong, 2009.Includes bibliographical references (leaves 121-126).Abstracts in English and Chinese.Abstract --- p.iiAcknowledgement --- p.ivChapter 1 --- Introduction --- p.1Chapter 1.1 --- Overview --- p.1Chapter 1.2 --- Motivation --- p.4Chapter 1.3 --- Contributions --- p.5Chapter 1.4 --- Organization of the thesis --- p.6Chapter 2 --- Literature review --- p.8Chapter 2.1 --- Introduction --- p.8Chapter 2.2 --- Background knowledge --- p.9Chapter 2.2.1 --- Pinhole camera model --- p.10Chapter 2.2.2 --- Kalman filter --- p.11Chapter 2.2.3 --- Extended Kalman filter --- p.14Chapter 2.2.4 --- Unscented Kalman filter --- p.15Chapter 2.3 --- Batch method --- p.19Chapter 2.3.1 --- Multiple view geometry --- p.19Chapter 2.3.2 --- Factorization --- p.21Chapter 2.3.3 --- Bundle adjustment --- p.22Chapter 2.4 --- Sequential method --- p.23Chapter 2.5 --- SLAM using cameras --- p.24Chapter 2.6 --- Summary --- p.26Chapter 3 --- Pose tracking of a stereo camera system --- p.27Chapter 3.1 --- Overview --- p.27Chapter 3.1.1 --- Related work --- p.27Chapter 3.1.2 --- Contribution --- p.29Chapter 3.2 --- Problem definition --- p.29Chapter 3.3 --- Algorithm --- p.31Chapter 3.3.1 --- Initialization --- p.33Chapter 3.3.2 --- Feature tracking and stereo correspondence matching --- p.33Chapter 3.3.3 --- Pose tracking based on two trifocal tensors --- p.35Chapter 3.3.4 --- Pose tracking using extended Kalman filter (Our EKF-2 approach) --- p.37Chapter 3.3.5 --- Pose tracking using unscented Kalman filter (Our UKF-2 approach) --- p.41Chapter 3.3.6 --- Pose tracking using differential evolution (Our DE-2 approach) --- p.44Chapter 3.4 --- Experiment --- p.49Chapter 3.4.1 --- Synthetic experiments --- p.49Chapter 3.4.2 --- Real experiments --- p.55Chapter 3.5 --- Summary --- p.67Chapter 4 --- Advance to two pairs of stereo cameras --- p.68Chapter 4.1 --- Overview --- p.68Chapter 4.1.1 --- Related work --- p.68Chapter 4.1.2 --- Contribution --- p.69Chapter 4.2 --- Problem definition --- p.70Chapter 4.3 --- Algorithm --- p.72Chapter 4.3.1 --- Initialization --- p.72Chapter 4.3.2 --- Feature tracking and stereo correspondence matching --- p.74Chapter 4.3.3 --- Pose tracking based on four trifocal tensors --- p.76Chapter 4.3.4 --- Pose tracking using extended Kalman filter (Our EKF-4 approach) --- p.79Chapter 4.3.5 --- Pose tracking using unscented Kalman filter (Our UKF-4 approach) --- p.84Chapter 4.4 --- Experiment --- p.87Chapter 4.4.1 --- Synthetic experiments --- p.87Chapter 4.4.2 --- Real experiments --- p.100Chapter 4.5 --- Summary --- p.113Chapter 5 --- Conclusion --- p.115Chapter 5.1 --- Conclusion --- p.115Chapter 5.2 --- Scope of Applications --- p.116Chapter 5.3 --- Limitations --- p.117Chapter 5.4 --- Difficulties --- p.118Chapter 5.5 --- Future work --- p.118Bibliography --- p.12