Publisher's Synopsis
This is the first book to treat the analysis of 3D dynamicscenes using a stereovision system. Several approaches aredescribed, for example two different methods for dealingwith long and short sequences of images of an unknownenvironment including an arbitrary number of rigid mobileobjects. Results obtained from stereovision systems arefound to be superior to those from monocular image systems,which are often very sensitive to noise and therefore oflittle use in practice. It is shown thatmotion estimationcan be further improved by the explicit modeling ofuncertainty in geometric objects. The techniques developedin this book have been successfully demonstrated with alarge number of real images in the context of visualnavigation of a mobile robot.
