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Visual motion estimation and tracking of rigid bodies by physical simulation

Duff, Damien Jade (2011)
Ph.D. thesis, University of Birmingham.

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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:Ph.D. thesis.
Supervisor(s):Wyatt, Jeremy and Stolkin, Rustam
School/Faculty:Colleges (2008 onwards) > College of Engineering & Physical Sciences
Department:School of Computer Science
Subjects:QA75 Electronic computers. Computer science
QA76 Computer software
Institution:University of Birmingham
ID Code:2927
This unpublished thesis/dissertation is copyright of the author and/or third parties. The intellectual property rights of the author or third parties in respect of this work are as defined by The Copyright Designs and Patents Act 1988 or as modified by any successor legislation. Any use made of information contained in this thesis/dissertation must be in accordance with that legislation and must be properly acknowledged. Further distribution or reproduction in any format is prohibited without the permission of the copyright holder.
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