Geometry for Computer Vision 2010 (6hp)
The course starts with two lectures on basic projective, and epipolar geometry. The remaining six lectures cover a selection of more recent techniques and methods that are widely used in the Computer Vision community.
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- March 19: Introduction to projective spaces, homogeneous coordinates in 2D+3D, points, lines, planes, homographies, camera matrices Klas 2x45min. Slides
- March 26: Epipolar geometry: fundamental matrix, triangulation, rectification, degeneracies from planes, transfer Klas 2x45min. Slides
- April 9: Estimation theory: DLT, data normalization, algebraic & geometric errors, Maximum-likelihood, RANSAC, Voting, Mean-shift. Per-Erik 2x45min. Slides
- April 16: Camera calibration: Zhang's calibration plane, self-calibration. Oriented epipolar geometry. Per-Erik 45min Slides . Multi-body factorization. Klas 45 min Slides . Articles: [ Mendoca&Cipolla ] [ Costeira&Kanade ]
April 23: Three view geometry: Trifocal tensor, applications, estimations, internal constraints. Klas 45 min
. Calibrated multi-view geometry: 5-point problem, P3P, bundle adjustment. Per-Erik 45 min
. Article: [
April 30: 6-point geometry. Klas 45 min.
. LO-RANSAC, preemptive RANSAC, PROSAC & DEGENSAC. Per-Erik 45 min.
. Articles: [
May 7: Representations of 3D rotations: exp of so(3), quaternions, Rodrigues. Estimation of 2D and 3D rigid transformations, Horn+Procrustes. Klas. 45 min
. SLERP, Smoothing of SO(3) and SE(3). Per-Erik 45 min
May 21: Rolling shutter and push-broom cameras: geometry and calibration. Per-Erik 2x45 min
- Short question seminar on the literature after lectures 4-8.
- Small programming project (2hp) at the end of the course. Own or proposed projects.
- Short (<2h) written examination on concepts from the lectures.
Last updated: 2014-03-18