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Shafik, Mohamed Salah El-Neshawy: 3D motion analysis for mobile robots. 2013
Inhalt
Introduction
Motion Analysis in Active Vision
Formulation of the Problem
Concept of Transparent Motion
Prediction of Collision
Ego-Motion
Motion Segmentation and Motion of Segments
Thesis Outline
Basic Concepts
Visual Motion Estimation
Brightness Constancy
Gradient Based Motion Estimation
Background Subtraction and Surveillance
Motion Detection from a Static Camera
Region-Based Motion Detection
Contour-Based Motion Detection
2D Motion Vector Fields
2D Motion Constraint Equation
3D Motion Constraint Equation
2D Optical Flow
3D Motion Interpretation
Related Literature
Introduction
Biologically Motivated Classifier
Motion Segmentation Based on Dense Optical Flow
Expectation Maximization Approaches
Multi-Body Factorization Approaches
RANSAC Based Approaches
Motion Analysis Based on 3D Shape Construction
3D Pose Estimation
3D Modeling from Stereo Images
Stereo Active Vision
Constraints of Alternative Systems
Forward Collision Detection
6D Vision
Obstacle Detection in Complex Scenarios
3D Motion Parameter Estimation
Daugman's Neural Network
Enhanced 3D Motion Parameters Estimation
Results on 3D Motion Segmentation Approach
Chapter Summary
3D Saliency-Based Motion Segmentation
Filtering of 2D Input MVFs
Vector-Based Motion Segmentation
Saliency-Based 3D Motion Segmentation
Chapter Summary
Depth-Integrated 3D Motion Estimation
Pinhole Stereo Geometry
Perspective Projection
Integrating Depth for Estimating 3D Motion
Real-Time Segment Based Stereo Algorithm
3D Representation of Motion Parameters
3D Representation of a Motion Vector Field
Detection of 3D Motion Patterns
Collision Detection with the Drivable Tunnel
Chapter Summary
Results and Evaluation
Experimentation Platforms
3D Motion Parameters Estimation Results
Saliency-Based Motion Segmentation Results
Synthetic Motion Templates
Dynamic Virtual Scene from a Moving Camera
Dynamic Real-World Scene from a Static Camera
Performance Results
Depth-Integrated Motion Segmentation Results
Synthetic Motion Templates
Dynamic Virtual Scene from a Moving Stereo Camera
Dynamic Scene from a Moving Stereo Camera
Collision Detection with the Drivable Tunnel
Chapter Summary
Conclusion
Scientific Contributions
Discussion
Outlook
Bibliography
List of Tables
List of Figures
List of Abbreviations
List of Symbols
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