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Tables of Contents for Three-Dimensional Computer Vision
Chapter/Section Title
Page #
Page Count
Series Foreword
xi
Figures
xiii
Tables
xxix
Preface
xxxi
Introduction
1
6
Projective Geometry
7
26
How to read this chapter
8
1
Projective spaces
9
4
The projective line
13
1
The projective plane
14
9
The projective space
23
7
Problems
30
3
Modeling and Calibrating Cameras
33
36
A guide to this chapter
33
1
Modeling cameras
33
8
Changing coordinate systems
41
10
Calibrating cameras
51
15
Problems
66
3
Edge Detection
69
56
Introduction and precursors
69
8
Computing derivatives and smoothing
77
13
One-dimensional edge detection by the maxima of the first derivative
90
14
Discrete implementations
104
4
Two-dimensional edge detection by the maxima of the gradient magnitude
108
10
More references
118
1
Problems
119
6
Representing Geometric Primitives and Their Uncertainty
125
40
How to read this chapter
126
1
Manifolds
127
3
The two-dimensional case
130
5
The three-dimensional case
135
7
Three-dimensional displacements
142
9
Computing uncertainty
151
11
Problems
162
3
Stereo Vision
165
80
Correspondence ambiguity; tokens and features
165
4
Constraints
169
19
Rectification
188
1
Correlation techniques
189
7
Relaxation techniques
196
2
Dynamic programming
198
3
Prediction and verification
201
5
Adding the planarity constraint
206
5
Using three cameras
211
19
Reconstructing points and lines in three dimensions
230
10
More references
240
1
Problems
240
5
Determining Discrete Motion from Points and Lines
245
56
How to read this chapter
245
2
Introduction
247
1
Determining camera displacement from point correspondences
247
36
Determining displacement from line correspondences
283
6
Determining the displacement of a planar patch
289
8
Problems
297
4
Tracking Tokens over Time
301
40
Introduction
301
1
Recursive least-squares and Kalman filtering methods
302
16
Two-dimensional token tracking
318
8
Three-dimensional token tracking
326
12
Conclusion and references
338
1
Problems
338
3
Motion Fields of Curves
341
62
How to read this chapter
341
2
Optical flow and the motion field
343
7
The motion fields of a curve
350
19
Rigid motion of a 3-D straight line
369
11
Rigid motion of a 3-D curve
380
7
Some simple examples
387
7
Constraining stereo matches
394
5
More references
399
1
Problems
400
3
Interpolating and Approximating Three-Dimensional Data
403
80
The status of the problem
403
8
How to read this chapter
411
1
Shape topologies
412
3
Delaunay triangulation
415
23
Constrained Delaunay triangulation
438
10
Application: building polyhedral interpolations
448
23
Finding surface patches
471
5
More references
476
1
Problems
477
6
Recognizing and Locating Objects and Places
483
76
The status of the problems
483
1
Various approaches to the problems
484
13
Recognizing and determining the pose of 2-D objects
497
18
Recognizing and determining the pose of 3-D objects
515
19
Optical navigation and model building for a mobile robot
534
22
Problems
556
3
Answers to Problems
559
64
Answers to problems of chapter 2
559
8
Answers to problems of chapter 3
567
6
Answers to problems of chapter 4
573
5
Answers to problems of chapter 5
578
8
Answers to problems of chapter 6
586
6
Answers to problems of chapter 7
592
5
Answers to problems of chapter 8
597
3
Answers to problems of chapter 9
600
5
Answers to problems of chapter 10
605
10
Answers to problems of chapter 11
615
8
A Constrained Optimization
623
2
B Some Results from Algebraic Geometry
625
4
B.1 Plane curves
625
2
B.2 The degree of an algebraic manifold
627
1
B.3Resultants
627
2
C Differential Geometry
629
6
C.1 Plane curves
629
1
C.2 Space curves
629
1
C.3 Surface patches
630
5
Bibliography
635
24
Index
659