Citation
Todd Templeton. "Accurate Real-Time Reconstruction of Distant Scenes Using Computer Vision: The Recursive Multi-Frame Planar Parallax Algorithm". PhD thesis, University of California, Berkeley, December, 2009.

Abstract
In this dissertation, we detail the Recursive Multi-Frame Planar Parallax (RMFPP) algorithm, a recursive extension of Irani et al.'s Multi-Frame Planar Parallax (MFPP) batch algorithm that allows real-time reconstruction of distant static scenes using computer vision, with expected error that increases only linearly with depth. We present an overview and comprehensive derivation of the theoretical foundation on which the RMFPP algorithm is built, including the seminal planar-parallax work by Sawhney. We derive a recursive cost function that preserves more of the problem's nonlinearity than does the cost function in the MFPP algorithm, which allows a more accurate recursive procedure. In order to obtain a recursive algorithm, we remove the geometry-refining optimization that is present in the MFPP algorithm; however, we empirically show that our algorithm degrades gracefully in the presence of geometric error. We present results using both synthetic and real imagery that show that the RMFPP algorithm is at least as accurate as the original MFPP batch algorithm in many circumstances, is preferred to both fixed- and dynamic baseline two-frame methods, and is suitable for real-time use.

Electronic downloads

• http://www.eecs.berkeley.edu/Pubs/TechRpts/2009/EECS-2009-180.html

• HTML

  Todd Templeton. <a
  href="http://chess.eecs.berkeley.edu/pubs/764.html"
  ><i>Accurate Real-Time Reconstruction of Distant
  Scenes Using Computer Vision: The Recursive Multi-Frame
  Planar Parallax Algorithm</i></a>, PhD thesis, 
  University of California, Berkeley, December, 2009.

• Plain text

  Todd Templeton. "Accurate Real-Time Reconstruction of
  Distant Scenes Using Computer Vision: The Recursive
  Multi-Frame Planar Parallax Algorithm". PhD thesis, 
  University of California, Berkeley, December, 2009.

• BibTeX

  @phdthesis{Templeton09_AccurateRealTimeReconstructionOfDistantScenesUsingComputer,
      author = {Todd Templeton},
      title = {Accurate Real-Time Reconstruction of Distant
                Scenes Using Computer Vision: The Recursive
                Multi-Frame Planar Parallax Algorithm},
      school = {University of California, Berkeley},
      month = {December},
      year = {2009},
      abstract = {In this dissertation, we detail the Recursive
                Multi-Frame Planar Parallax (RMFPP) algorithm, a
                recursive extension of Irani et al.'s Multi-Frame
                Planar Parallax (MFPP) batch algorithm that allows
                real-time reconstruction of distant static scenes
                using computer vision, with expected error that
                increases only linearly with depth. We present an
                overview and comprehensive derivation of the
                theoretical foundation on which the RMFPP
                algorithm is built, including the seminal
                planar-parallax work by Sawhney. We derive a
                recursive cost function that preserves more of the
                problem's nonlinearity than does the cost function
                in the MFPP algorithm, which allows a more
                accurate recursive procedure. In order to obtain a
                recursive algorithm, we remove the
                geometry-refining optimization that is present in
                the MFPP algorithm; however, we empirically show
                that our algorithm degrades gracefully in the
                presence of geometric error. We present results
                using both synthetic and real imagery that show
                that the RMFPP algorithm is at least as accurate
                as the original MFPP batch algorithm in many
                circumstances, is preferred to both fixed- and
                dynamic baseline two-frame methods, and is
                suitable for real-time use.},
      URL = {http://chess.eecs.berkeley.edu/pubs/764.html}
  }
  

Posted by Todd Templeton on 6 Nov 2010.
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