Biologische Kybernetik, INP Grenoble, Warsaw University of Technology, September 2000 (diplomathesis)
For a planar scene, we propose an algorithm to estimate its 3D structure. Homographies between corresponding planes are employed in order to recover camera motion parameters - between camera positions from which images of the scene were taken. Cases of one- and multiple- corresponding planes present on the scene are distinguished. Solutions are proposed for both cases.
Our goal is to understand the principles of Perception, Action and Learning in autonomous systems that successfully interact with complex environments and to use this understanding to design future systems