@TechReport{TR095,
  author =	 "Harald Entner",
  title =	 "Real-time 3D Reconstruction for Autonomous Football
                  Playing Robots Using a Feature Based Stereo
                  Approach",
  institution =	 "PRIP, TU Wien",
  number =	 "PRIP-TR-095",
  year =	 "2005",
  url =		 "https://www.prip.tuwien.ac.at/pripfiles/trs/tr95.pdf",
  abstract =	 "This diploma thesis addresses the topics of stereo
                  3D reconstruction and shows the results of a feature
                  based real-time stereo algorithm. For understanding
                  issues, it uses the pinhole camera to describe
                  perspective projection. In reality, a lens is used
                  to project the light rays onto the sensor chip, thus
                  an extended model is presented in order to describe
                  the projection using a lens and to introduce camera
                  calibration. In a dynamic environment stereo from
                  motion is not possible, as a result a multi-camera
                  system is needed. Epipolar geometry describes this
                  special geometry and can be useful to minimize the
                  computational cost of searching corresponding points
                  in two images. The feature extraction uses the Canny
                  algorithm followed by a new iterative line
                  detection. Straight lines are considered to be an
                  appropriate representation of the football field and
                  the robots. After features have been found the
                  correspondences are searched and used to calculate
                  the 3D position of the features. Chapter 2 covers
                  the theoretical background, whereas Chapter 3
                  describes the implemented methods. In Chapter 4
                  every part of the algorithm is evaluated. It is
                  followed by the conclusion and the future plans.",
}