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Lecture Notes - AIS2204 Maskinsyn
- Chapter 1-2. Introduction and 3D Modelling (two weeks)
- Chapter 3. Image Formation (two weeks)
- Chapter 4. Feature Tracking (two weeks)
- Chapter 5. Projective Reconstruction (two weeks)
- Project 3. Euclidean Reconstruction
- Chapter 6. Reconstruction from two Uncalibrated views (two weeks)
- Chapter 11. System Architecture (one week?)
- Visualisation (one week?)
- Chapter 10. Partial Scene Knowledge (one week?)
Chapter 1-2. Introduction and 3D Modelling (two weeks)
# | Talks | Lecture Notes | Exercise | Reading | Keywords |
---|---|---|---|---|---|
1 | Introduction | Change of Basis | Introduction | Ma 2004:Ch 1 | Quick examples - software installation |
2 | 3D Modelling | Ma 2004:Ch 2, App A (SZ 2) | 3D modelling, motion | ||
3 | 3D Objects in Python | Tutorials | |||
4 | 3D Modelling II | More mathematics - quaternions? |
Learning Objectives
- Session 1.
- how to work with the subject
- history, motivation, purpose
- (debrief) basic linear algebra
- Session 2-4. (3-4 sessions total)
- Rotation, Translation
- Exponential Form
- Change of basis
- Homogenous Co-ordinates
- Mathematical properties
- Mathematical and insrumental formulations
Chapter 3. Image Formation (two weeks)
# | Topic | Reading | Keywords |
---|---|---|---|
5 | Image Formation | Ma 2004:Ch 3-3.3.1 (SZ 6) | projection, lens/camera |
6 | Camera Mathematics | Ma 2004:Ch 3.3-3.4 | Calibration, Radial Distortion etc. |
7 | Distortion in Practice | Calibration in OpenCV | Radial Distortion, Tangential Distortion |
8 | Programming with OpenCV | ?? | videos, TBD |
- Session 5-8
- Projection from 3D to 2D image
- Calibrate camera
Chapter 4. Feature Tracking (two weeks)
Keywords Signal Processing, 2D
# | Topic | Reading | Keywords |
---|---|---|---|
1 | Corner Detection | Ma 2004:Ch 4.3, 4.A (SZ 4) | Calculate Gradient. Harris Feature Detector. |
2 | Corner Detection in Python | ||
3 | Tracking Features | Ma 2004:Ch 4-4.2 | Tracking of Features. Tracking of Edges. |
4 | Tracking Features in Python |
- OpenCV/Python Tutorial
- Background: Understanding Features
- Harris Corner Detection
- Overview Feature Detection and Description
- Ma 2004 Chapter 11.1-2.
Chapter 5. Projective Reconstruction (two weeks)
Keywords 3D, projection
2-1
- Ma 2004 Chapter 5
- The Epipolar plain
- Eight-point algorithm
2-2
- Ma 2004 Chapter 5
2-3
- Ma 2004 Chapter 11.3.
Project 3. Euclidean Reconstruction
- Ma 2004 Chapter 10. Partial Scene Knowledge
- Ma 2004 Chapter 11.4.
Chapter 6. Reconstruction from two Uncalibrated views (two weeks)
Keywords 3D, calibration, projection
Chapter 11. System Architecture (one week?)
Visualisation (one week?)
Keywords texture, visualisation
- Ma 2004 Chapter 11.5.
Chapter 10. Partial Scene Knowledge (one week?)
This is referenced as a building block in Chapter 11.