THREE-DIMENSIONAL VISION FOR STRUCTURE AND MOTION ESTIMATION

Abstract

This thesis addresses computer vision techniques estimating geometrie properties of the 3-D world /rom digita[ images.Such properties are essential for object recognition and classification, mobile robots navigation, reverse engineering and synthesis of virtual environments.In particular, this thesis describes the modules involved in the computation of the structure of a scene given some images, and offers originai contributions in the following fields. Stereo pairs rectification.A novel rectification algorithm is presented, which transform a stereo pair in such a way that corresponding points in the two images lie on horizontal lines with the same index.Experimental tests prove the correct behavior of the method, as well as the negligible decrease of the accuracy of 3-D reconstruction if performed from the rectified images directly.