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GRASP Seminar Series: Spring 2005
April 1, 11:00 AM, Levine Hall 307.
David Nister
University of Kentucky
“Real-time Estimation of Camera Motion and Other Endeavors in Structure from Motion “
Abstract: A system that estimates the motion of a single moving camera or stereo head based on video input will be presented. The system operates in real-time with low delay. The front end of the system is a feature tracker. Point features are matched between pairs of frames and linked into image trajectories at video rate. Robust estimates of the camera motion are then produced from the feature tracks using a geometric hypothesize-and-test architecture. No prior knowledge of the scene or the camera motion is necessary. Applications include navigation and robotics, augmented reality and scene reconstruction. The image-based information can also be used in conjunction with information from other sources such as GPS, inertia sensors, wheel encoders, etc. The pose estimation method has been applied successfully to video from aerial, automotive and handheld platforms. Results with an autonomous ground vehicle will be shown, including examples of camera trajectories estimated purely from images over previously unseen distances and periods of time. The system will be shown processing real-time, and applications to scene reconstruction discussed.
Biography: David Nister received the PhD degree in computer vision, numerical analysis and computing science from the Royal Institute of Technology (KTH), Stockholm, Sweden, with the thesis 'Automatic Dense Reconstruction from Uncalibrated Video Sequences'. He is currently an assistant professor at the Computer Science Department and the Center for Visualization and Virtual Environments, University of Kentucky, Lexington. Before joining UK, he was a researcher in the Vision Technologies Laboratory, Sarnoff Corporation, Princeton, and Visual Technology, Ericsson Research, Stockholm, Sweden. His research interests include computer vision, computer graphics, structure from motion, multiple view geometry, Bayesian formulations, tracking, recognition, image and video compression. He is a member of the IEEE and American Mensa.
