Duff, Damien Jade (2011). Visual motion estimation and tracking of rigid bodies by physical simulation. University of Birmingham. Ph.D.
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Duff_11_PhD.pdf
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Abstract
This thesis applies knowledge of the physical dynamics of objects to estimating object motion from vision when estimation from vision alone fails. It differentiates itself from existing physics-based vision by building in robustness to situations where existing visual estimation tends to fail: fast motion, blur, glare, distractors, and partial or full occlusion. A real-time physics simulator is incorporated into a stochastic framework by adding several different models of how noise is injected into the dynamics. Several different algorithms are proposed and experimentally validated on two problems:
motion estimation and object tracking.
The performance of visual motion estimation from colour histograms of a ball moving in two dimensions is improved considerably when a physics simulator is integrated into a
MAP procedure involving non-linear optimisation and RANSAC-like methods. Process noise or initial condition noise in conjunction with a physics-based dynamics results in improved robustness on hard visual problems.
A particle filter applied to the task of full 6D visual tracking of the pose an object being pushed by a robot in a table-top environment is improved on difficult visual problems by incorporating a simulator as a dynamics model and injecting noise as forces into the simulator.
Type of Work: | Thesis (Doctorates > Ph.D.) | |||||||||
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Award Type: | Doctorates > Ph.D. | |||||||||
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College/Faculty: | Colleges (2008 onwards) > College of Engineering & Physical Sciences | |||||||||
School or Department: | School of Computer Science | |||||||||
Funders: | None/not applicable | |||||||||
Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science Q Science > QA Mathematics > QA76 Computer software |
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URI: | http://etheses.bham.ac.uk/id/eprint/2927 |
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