Verifying stereo vision using structure from motion

[摘要] The medical radiation treatment facility at iThemba Labs requires a preciseand robust patient positioning system. The current system makes use of anaccurately calibrated multi-camera stereophotogrammetry (SPG) setup thatis vulnerable to physical disruptions that invalidate system calibration. Thetask in this thesis is to design a vision system that can be used to verifythe correct operation of the SPG system. We propose an unscented Kalmanfilter (UKF) based structure from motion (SFM) system for this purpose. OurSFM system does not rely on calibration information used by the SPG systemand provides accurate reconstruction for verification purposes. The system iscritically evaluated against a set of synthetic and real motion sequences.

[发布机构] Stellenbosch University