Datorseende (CVL)

Typos and grammatical errors are not listed here

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• Page 25: line 2 in Section 2.1.1: replace "y ∈ ℝ³" by "y ∈ ℝ²".
• Page 30: Line 7 after Equation (2.26): replace "the rank of Y^T can be" with "the rank of Y^T must be".
• Page 36: Line 3 from top: replace "ℝ" by "ℝ³".
• Page 42: First line after Equation (3.12): replace "t" by "t".
• Page 57: Last line of Section 4.3.4: replace "" by "".
• Page 59: In Equation (4.33) and in the sentences that follows: replace "" by "".
• Page 61: End of last sentence of Section 4.4.3: replace "... the three planes are not distinct" by "... the three planes intersect along a line".
• Page 61: In Equation (4.41) and in the sentence just before: replace "" by "".
• Page 61: End of last sentence of Section 4.4.4: replace "... the three points are not distinct" by "... the three points are co-linear".
• Page 61: Second to last line on page: replace "the rank of X^T can be" with "the rank of X^T must be".
• Page 62: In Section 4.4.5, the Rank 1 case: replace " is 1-dimensional" with " is 3-dimensional".
• Page 62: In Section 4.4.6, the Rank 1 case: replace " is 1-dimensional" with " is 3-dimensional".
• Page 63: In Equation (4.47): replace "(p₁ · p₂)" with "(p₁ · x₂)".
• Page 63: Second sentence after Equation (4.49): replace second occurance of "Equation (2.28)" with "Equation (4.49)".
• Page 64: In Equation (4.51): replace "d" with "d_PD".
• Page 70: In Figure 6.1: the labeling of the planes p₁ and p₂ should be reversed.
• Page 78: Right-hand side of Equation (7.8) should look like: .
• Page 82: Obseravtion 2: Last sentence should read "World coordinates are first rotated by R and then translated by t".
• Page 83: In the sentence between Equations (7.19) and (7.20): Replace "x_w = ( 0 0 )" by "x_w = ( 0 1 )".
• Page 86: In the sentence before Equation (7.28): replace "y₂" by "y_s".
• Page 86: In the sentence after Equation (7.32): replace t' by t'.
• Page 87: In the third paragraph of section The internal parameters: the parameter s, the pixel scale, refers to the number of pixels per length unit.
• Page 88: In the first two sentences in the section The external parameters: replace n by n and replace t by t.
• Page 88: In the sentence that follows: replace "... after the translation ...." by "... before the translation ....".
• Page 90: In the final sentence of the paragraph after Equation (7.42): ends as "... the camera center n".
• Page 91: In Figure 7.6: replace "... image point L_y" by "... image point y".
• Page 97: In Equation (7.68): switch w and h.
• Page 126: In Equation (9.40): matrix C₂ should be transposed.
• Page 129: In Equation (9.49): the distance function should be denoted d_PD.
• Page 131: In Equation (9.51): the second vector should be denoted as y₂.
• Page 134: In Equation (9.61): should be t = t₂ - R₂R₁^T t₁.
• Page 136: In Equation (9.75): Replace V_T with V^T.
• Page 137: In the sentence before Equation (9.81): Replace W by R and replace W^T by R'.
• Page 153: In Algorithm 8: The last line should read: z = the right-most column of V (= the right singular vector of A with the the smallest singular value).
• Page 158: In Equations (10.37), (10.38) and (10.39): The dot sign/signs should be on the other side of the bar in the conditional probabilities.
• Page 158: In Equation (10.43): Replace σ with σ².
• Page 195: In Equation (12.43): Replace D with D^T.
• Page 204: In Equation (13.15): Replace nt with 2nt.
• Page 205: In Algorithm 16 and in the text of the paragraph below: Change IPC to ICP. This applies also to the index, page 325.
• Page 241: In Algorithm 27: In the initialisation step, add C_{est = ∅.}
• Page 243: In Algorithms 28 and 29: In the initialisation step, add C_{est = ∅.}
• Page 244: In Algorithm 30: In the initialisation step, add C_{est = ∅.}
• Page 267: In the first line after Equation (17.12): change ε to ε_BA.
• Page 268: In Equation (17.13): the distance function is d_PP.
• Page 290: In the last line before Equation (B.8): change a to unit vector n with a hat. This is the case also for three occurences in the line following the equation.
• Page 290: In the first line after Equation (B.8): change a to vector n (3 occurences!).
• Page 292: In sentence before Equation (B.29): change M^-1 to M.
• Page 293: In the first sentence of the second paragraph: change index variable j to i.
• Page 294: In Equation (B.34): the last relation should be M M^T = U S S^TU^T.
• Page 296: In first sentence of the second paragraph in section Finding the span ...: the subspace should be denoted with capital V_i.
• Page 299: In Equation (B.62): right-hand side should be U' S' V'^T.
• Page 310: In Observation 47: change "must" to "much".
• Page 313: In Equation (C.11): change x to z.
• Page 313: In Equation (C.12) and in the following sentence: change r_m to r_i.
• Page 319: In the last sentence: Inversion of J^TJ has computational complexity O(m₁³).