Contents

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Contents

• Introduction and Overview
  • Objective of this thesis
  • Overview
• Stereo Vision
  • Perspective Projection
    • The Pinhole Camera
    • Camera Model with Lens
  • Camera Calibration
  • Stereo Geometry
    • Epipolar Geometry
    • Fundamental Matrix
    • Rectification
    • Occlusion
    • Constraints
  • Correspondence Analysis
    • Intensity-based correspondence analysis
    • Feature-based Correspondence Analysis
  • 3D Reconstruction
  • Summary
• Methods
  • Image Acquisition
  • Calibration
  • Edge detection
  • Line Extraction
  • Correspondence Analysis
    • Search for corresponding lines
    • Object detection
  • 3D Reconstruction and Visualization
  • Robot Head
  • Summary
• Results
  • Calibration
  • Line Detection
    • Synthetic data
    • Real data
  • Correspondence Analysis
    • Synthetic data
    • Real data
  • 3D Reconstruction
    • Synthetic data
    • Real data
  • Summary
• Conclusion and Future Work
• Bibliography