Verifying stereo vision using structure from motion

dc.contributor.advisorHunter, K. M.
dc.contributor.advisorMuller, N. L.
dc.contributor.authorVan Wyk, Barry-Michael Morne
dc.contributor.otherStellenbosch University. Faculty of Science. Dept. of Mathematical Sciences. Applied Mathematics.
dc.descriptionThesis (MScEng (Mathematical Sciences. Applied Mathematics))--Stellenbosch University, 2008.
dc.description.abstractThe medical radiation treatment facility at iThemba Labs requires a precise and robust patient positioning system. The current system makes use of an accurately calibrated multi-camera stereophotogrammetry (SPG) setup that is vulnerable to physical disruptions that invalidate system calibration. The task in this thesis is to design a vision system that can be used to verify the correct operation of the SPG system. We propose an unscented Kalman filter (UKF) based structure from motion (SFM) system for this purpose. Our SFM system does not rely on calibration information used by the SPG system and provides accurate reconstruction for verification purposes. The system is critically evaluated against a set of synthetic and real motion sequences.en
dc.publisherStellenbosch : Stellenbosch University
dc.subjectDissertations -- Applied mathematicsen
dc.subjectTheses -- Applied mathematicsen
dc.subjectPatients -- Positioning -- Techniqueen
dc.subjectKalman filteringen
dc.subjectPhotogrammetry in medicineen
dc.subjectRadiology, Medical -- Techniqueen
dc.subjectStructure from motionen
dc.titleVerifying stereo vision using structure from motionen
dc.rights.holderStellenbosch University

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