VASC Seminar Announcement
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Date: Monday, 4/12/99
Time: 3:30-4:30
Place: Smith Hall 2nd Floor Common Area

Speaker:  Daniel Morris
          CMU Robotics Institute
          http://www.cs.cmu.edu/~ddmorris


Title: Uncertainty Modeling for Optimal Structure from Motion

Abstract:

We want a quantitative uncertainty measure for Structure from Motion that
captures the underlying geometric uncertainty of the reconstruction.
Structure and motion from monocular sequences are only recovered up to a
global translation, orientation and scale factor, meaning that variations
in translation, orientation and scale are not geometrically significant and
should be ignored in the uncertainty model.  Past uncertainty models remove
these degeneracies by selecting arbitrary values for these parameters, but
this hides the true underlying geometric uncertainty.  We show how
perturbation analysis can be applied to cases with these sorts of nonlinear
degeneracies and how to obtain true geometric uncertainties.