The  Weizmann  Institute  of  Science
                  Faculty of Mathematics and Computer Science


                          Vision and Robotics Seminar

                                  Daniel Keren
                         Department of Computer Science
                                Haifa University


                                 will speak on


                         Recovery of Epipolar Geometry
                         as a Manifold Fitting Problem

Abstract:
The introduction of the joint image manifold allows to treat the problem of 
recovering camera motion and epipolar geometry as a problem of fitting the 
manifold to the data measured in a stereo pair. The manifold has a singularity, 
therefore care must be taken when fitting it.

I will review the notion of joint image manifold, and how previous motion recovery
methods can be viewed in its context, and then offer a new fitting method, which
improves upon previous results, especially when the extent of the data and/or the
motion are small.

Joint work with P. Anandan (Microsoft), and I. Shimshoni, L. Goshen (Technion).




                      The lecture will take place in the 
                     Lecture Hall, Room 1, Ziskind Building
                          on Thursday, March 13, 2003
                                  11:00 - noon