Three-Dimensional Computer Vision

From Artificial Intelligence Series

Three-Dimensional Computer Vision

A Geometric Viewpoint

By Olivier Faugeras





This monograph by one of the world's leading vision researchers provides a thorough, mathematically rigorous exposition of a broad and vital area in computer vision: the problems and techniques related to three-dimensional (stereo) vision and motion. The emphasis is on using geometry to solve problems in stereo and motion, with examples from navigation and object recognition. Faugeras takes up such important problems in computer vision as projective geometry, camera calibration, edge detection, stereo vision (with many examples on real images), different kinds of representations and transformations (especially 3-D rotations), uncertainty and methods of addressing it, and object representation and recognition. His theoretical account is illustrated with the results of actual working programs.Three-Dimensional Computer Vision proposes solutions to problems arising from a specific robotics scenario in which a system must perceive and act. Moving about an unknown environment, the system has to avoid static and mobile obstacles, build models of objects and places in order to be able to recognize and locate them, and characterize its own motion and that of moving objects, by providing descriptions of the corresponding three-dimensional motions. The ideas generated, however, can be used indifferent settings, resulting in a general book on computer vision that reveals the fascinating relationship of three-dimensional geometry and the imaging process.


Out of Print ISBN: 9780262061582 700 pp. | 8 in x 9 in 285 illus.


  • This is an excellent book that will be required reading for anyone seriously interested in problems involving stereo and/or motion. It is one of the few examples of developing theory using solid mathematics and then demonstrating that the theory is actually useful in practice. The presentation is consistent and the parts fit well together. I expect it to become a classic in the field of computer vision.

    William Thompson

    Professor, Department of Computer Science, University of Utah

  • A magnificant tour de force. Three-Dimensional Computer Vision deals with an extremely broad and important chunk of computer vision and covers the area with excellent breadth. It provides examples of the described techniques being applied to real images, and it is built on the kind of solid mathematical underpinnings that are essential if the field is to move from the 'black art' stage to a real science. Anyone who claims to be serious about research in this area absolutely must be aware of this work.

    W. Eric L. Grimson

    AI Laboratory, M.I.T.