Photogrammetric Computer Vision: Statistics, Geometry, Orientation and Reconstruction (Geometry and Computing)

Wolfgang Förstner, Bernhard P. Wrobel

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商品描述

This textbook offers a statistical view on the geometry of multiple view analysis, required for camera calibration and orientation and for geometric scene reconstruction based on geometric image features. The authors have backgrounds in geodesy and also long experience with development and research in computer vision, and this is the first book to present a joint approach from the converging fields of photogrammetry and computer vision.

Part I of the book provides an introduction to estimation theory, covering aspects such as Bayesian estimation, variance components, and sequential estimation, with a focus on the statistically sound diagnostics of estimation results essential in vision metrology. Part II provides tools for 2D and 3D geometric reasoning using projective geometry. This includes oriented projective geometry and tools for statistically optimal estimation and test of geometric entities and transformations and their rela­tions, tools that are useful also in the context of uncertain reasoning in point clouds. Part III is de­voted to modelling the geometry of single and multiple cameras, addressing calibration and orienta­tion, including statistical evaluation and reconstruction of corresponding scene features and surfaces based on geometric image features. The authors provide algorithms for various geometric computa­tion problems in vision metrology, together with mathematical justifications and statistical analysis, thus enabling thorough evaluations. The chapters are self-contained with numerous figures and exer­cises, and they are supported by an appendix that explains the basic mathematical notation and a de­tailed index.

The book can serve as the basis for undergraduate and graduate courses in photogrammetry, com­puter vision, and computer graphics. It is also appropriate for researchers, engineers, and software developers in the photogrammetry and GIS industries, particularly those engaged with statistically based geometric computer vision methods.

商品描述(中文翻譯)

本教科書提供了多視角分析幾何的統計觀點,這對於相機校準和定位以及基於幾何影像特徵的幾何場景重建是必需的。作者擁有測量學的背景,並在計算機視覺的開發和研究方面有著豐富的經驗,這是第一本從攝影測量和計算機視覺這兩個交匯領域提出聯合方法的書籍。

本書的第一部分介紹了估計理論,涵蓋了貝葉斯估計、變異成分和序列估計等方面,重點在於視覺計量中對估計結果進行統計上合理的診斷。第二部分提供了使用射影幾何進行2D和3D幾何推理的工具,包括有向射影幾何以及對幾何實體和變換及其關係進行統計最優估計和檢驗的工具,這些工具在點雲的不確定推理中也非常有用。第三部分專注於單個和多個相機幾何的建模,涉及校準和定位,包括基於幾何影像特徵的對應場景特徵和表面的統計評估和重建。作者提供了針對視覺計量中各種幾何計算問題的算法,並附上數學證明和統計分析,從而實現全面的評估。各章節內容獨立,配有大量圖示和練習,並附有解釋基本數學符號的附錄和詳細索引。

本書可作為攝影測量、計算機視覺和計算機圖形學的本科及研究生課程的基礎。它也適合於攝影測量和地理資訊系統(GIS)行業的研究人員、工程師和軟體開發人員,特別是那些從事基於統計的幾何計算機視覺方法的專業人士。