Görsel Navigasyon İçin Bilgisayarlı Görme Yöntemleri
Özet
Within the scope of this thesis, the subject of self-motion estimation of the camera
or the platform on which the camera is attached is dealt with by using only camera
images. The working principles of the cameras are examined and the relation of
3-dimensional space with 2-dimensional image information is defined. In order to
express the motion of the object in 3-dimensional space, information about rigid
body is given. Various feature detection and matching methods for motion
estimation have been investigated and motion estimation techniques have been
examined in single camera and stereo camera situations.
In the simulation studies, the image records in the KITTI data set containing open
and large scale images were processed in MATLAB environment and navigation
information was obtained. The motion trajectory of the vehicle was determined
using the relationships between consecutive images. The effects of different
feature detection methods on the results were investigated. The obtained
navigation information was compared with the navigation information obtained by
the GPS / INS system in the data set.
