The view lines associated with a family of proole curves of the projection of a surface onto the retina of a moving camera deenes a multi-valued vector eld on the surface. The integral curves of this eld are called epipolar curves and together with a parametrization of the prooles provide a parametrization of regions of the surface. This parametrization has been used in the systematic reconstru...

The image points in two images satisfy epipolar constraint. However, not all sets of points satisfying epipolar constraint correspond to any real geometry because there can exist no cameras and scene points projecting to given image points such that all image points have positive depth. Using the cheirality theory due to Hartley and previous work on oriented projective geometry, we give necessa...

Epipolar image analysis is a robust method for 3D scene depth reconstruction that uses all available views of an image sequence simultaneously. It is restricted to horizontal, linear, and equidistant camera movements. In this paper, we present a concept for an extension of epipolar image analysis to other camera configurations like, e.g., circular movements. Instead of searching for straight li...

Stereoscopic vision is a capability that supports the ability of robots to interact with visually complex environments. Epipolar geometry captures the projective relationship between the cameras in a stereo vision system, assisting in the reconstruction of three-dimensional information. However, a basic problem arises for robots with active vision systems whose cameras move with respect to each...

In most Photogrammetry and computer vision tasks, finding the corresponding points among images is required. Among many, the Lucas-Kanade optical flow estimation has been employed for tracking interest points as well as motion vector field estimation. This paper uses the IMU measurements to reconstruct the epipolar geometry and it integrates the epipolar geometry constraint with the brightness ...

In most photogrammetry and computer vision tasks, it is required to find the corresponding points among the images. Among many, Lucas/Kanade optical flow estimation has been employed for tracking interest points as well as motion vector field estimation. This paper uses the IMU measurements to reconstruct the epipolar geometry and it integrates the epipolar geometry constraint with the brightne...

Sound localization for a robot or an embedded system is usually solved by using Interaural Phase Di erence (IPD) and Interaural Intensity Di erence (IID). These values are calculated by using Head-Related Transfer Function (HRTF). However, HRTF depends on the shape of head and also changes as environments changes. Therefore, sound localization without HRTF is needed for real-world applications....

In this paper, a 3D surface scanner is presented. Combining stereovision and slit-scanning, our system is composed of two cameras and a hand-held laser plane. The camera pair is calibrated using synchronized image pairs of a coded chessboard; its imaged nodes are automatically identified, referred to the object points and introduced into a self-calibrating bundle adjustment. For the scanning pr...