Structure from Motion using the Extended Kalman Filter

The book "Structure from Motion using the Extended Kalman Filter" offers a comprehensive analysis of the automated estimation of camera motion and 3D scene reconstruction from image sequences. It discusses the advancements in the field of Structure from Motion (SfM) that have been achieved over the past decades and highlights the relevance of these technologies in various application areas such as robotics, video games, and augmented reality. The authors, Javier Civera, Andrew J. Davison, and José María Martínez Montiel, present a system for sparse point-based 3D reconstruction that is capable of operating in real-time while requiring only minimal prior knowledge about camera calibration and motion. The chapters of the book combine perspectives from robotics and computer vision and emphasize the importance of uncertainty estimation in sequential video processing to enhance the efficiency and performance of 3D estimation.