Computing Camera Heading
the problem statement
useful… applications
but hard… challenges
challenges - I
challenges - II
challenges - III
local minima
challenges - IV
the rest of the talk - overview
SFM: general formulation
projective equation
structure from motion (SFM)
SFM formulation
the disparity equation
proof of the disparity formula
mini-summary
a geometric interpretation
the system
the system F(t)d=alphadot
solution method
a solution framework
solution framework
variable projection method
global minima of r(t)
the trouble spots
theoretical analysis
singular points
examples of F(t), II
examples of F(t) (4 pts)
the singularity theorem
use of knowledge of F(t)
other considerations
experiments/comparisons
calibration
experiment setup
tracking
computed results
direction changes
summary
video
open problems & future work
acknowledgement
Email: zhang@cs.stanford.edu
Home Page: http://vision.stanford.edu/~zhang