# Structure-from-motion for enclosed environments

Thesis (PhD (Mathematical Sciences. Applied Mathematics))--University of Stellenbosch, 2007.

Thesis

A structure-from-motion implementation for enclosed environments is presented. The various aspects covered include a discussion on optimised luminance computations—a technique to compute an optimally weighted luminance that maintains a greatest amount of data fidelity. Furthermore a visual engine is created that forms the basis of data input for reconstruction purposes; such an inexpensive solution is found to offer realistic environments along with precise control of scene and camera elements. A motion estimation system provides tracking information of scene elements and an unscented Kalman filter is used as depth estimator. The elements are combined into an accurate reconstructor for enclosed environments.