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Lecture Notes - AIS2204 Maskinsyn

Chapter 1-2. Introduction and 3D Modelling (two weeks)

# Session Notes Reading Keywords
1 Introduction Ma 2004:Ch 1 (Ch 2.1 and 2.3) Practical matters. Software installation. Reap of linear algebra.
2 3D Modelling Ma 2004:Ch 2, App A (SZ 2) 3D modelling, motion
3 3D Objects in Python Tutorials 3D Transformations in Python
4 3D Modelling Part II Velocity transformations. Recap. Questions.

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 Calibration Ma 2004:Ch 3.3-3.3.3 Calibration, Radial Distortion etc.
7 More Camera Mathematics Ma 2004:Ch 3.3-3.4 Radial Distortion, Tangential Distortion

Chapter 4. Feature Tracking (three weeks)

# Topic Reading Keywords
8 Corner Detection Ma 2004:Ch 4.3, 4.A (SZ 4) Calculate Gradient. Harris Feature Detector.
9 Corner Detection continued
10 Tracking Features Ma 2004:Ch 4-4.2 Tracking of Features. Tracking of Edges.
11 Edges Ma 2004:Ch 4.4
12 Self-Study Continue with Tracking Features
13 Standup Continue with Tracking Features
14 SIFT
15 Tracking Features 2
16 SIFT Feature Matching. Feature Descriptor.

Note Session 12 was planned Self-Study due to staff seminar. Session 13-14 became self-study because of sick leave.

Note for next year We should have had one session on blurring filters and similar techniques from image processing before starting on Corner Detection (Session 8). This would have made the introduction of signal differentiation smoother.

Chapter 5. Projective Reconstruction (two weeks ?)

# Topic Reading Keywords
17 Relative Pose Ma 2004:Ch 5.1 Triangulation. Relative Pose. Essential Matrix.
18 Eight-point algorithm Ma 2004:Ch 5.2 Calculate Essential Matrix
19 Planar Scenes Ma 2004:Ch 5.3
20 Continuous Motion Ma 2004:Ch 5.4

Chapter 6. Reconstruction from two Uncalibrated views (two weeks)

# Topic Reading Keywords
21 Distorted Space Ma 2004:Ch 6
22 Ma 2004:Ch 6
23
24

More (Tentative

# Topic Reading Keywords
25 Ma 2004:Ch 11
26 Ma 2004:Ch 11
27 Tentative Seminar: Applications TBA TBC - we may decide to move on to feature tracking
28
  1. Ma 2004 Chapter 10. Partial Scene Knowledge
    • This is referenced as a building block in Chapter 11.
  2. Ma 2004 Chapter 11.4.
  3. Ma 2004 Chapter 11.5. Keywords texture, visualisation