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---
title: Lecture Notes - AIS2204 Maskinsyn
categories: Module
---
**Note** The lecture plan as posted at the start of semester is last
year's schedule. There will not be any revolutionary changes, but
it will be reviewed and amended as we go along.
# Introduction (two weeks?)
# Chapter 1-3. Introduction; 3D geometry and projections
**Dates** 21, 24, 28, and 31 August, and 4 and 7 September
| # | Topic | Reading | Keywords |
|---|---------------|-------------------|-----------------------------|
| 1 | [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? |
| 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](https://docs.opencv.org/master/dc/dbb/tutorial_py_calibration.html) | Radial Distortion, Tangential Distortion |
| # | Session Notes | Reading | Keywords | Status |
|---|---------------|-------------------|-----------------------------|-----|
| 1 | [Introduction]() | Ma 2004:Ch 1 (Ch 2.1 and 2.3) | Practical matters. Software installation. Recap of linear algebra. | OK |
| 2 | [3D Modelling]() | Ma 2004:Ch 2, App A (SZ 2) | 3D modelling, motion | OK |
| 3 | [3D Objects in Python]() | Tutorials | Homogeneous co-ordinates. General Rotations. 3D Transformations in Python | OK |
| 4 | [Image Formation]() | Ma 2004:Ch 3-3.3.1 (SZ 6) | (self-study) projection, lens/camera | |
| 5 | [Camera Calibration]() | Ma 2004:Ch 3.3-3.3.3 | (self-study) Calibration, Radial Distortion etc. |
| 6 | [Three-week Recap]() | Ma 2004:Ch 1-3 | 3D Motion and 2D Projections | To be adapted to class need|
| 7 | Recap: [Camera Calibration]() | Ma 2004:Ch 3 | | Many students needed more time to get the calibration to work. |
**Note** It could have been useful to do a session on Theorem 2.8, training proof
reading skills.
+ Session 8. Programming with Python OpenCV ??
- [Getting Started with Videos](https://docs.opencv.org/4.5.1/dd/d43/tutorial_py_video_display.html)
- [Core Operations](https://docs.opencv.org/4.5.1/d7/d16/tutorial_py_table_of_contents_core.html)
on images
# Chapter 4. Feature Tracking
# Project 1. Feature Tracking (three weeks?)
We need to interleave this with material from later blocks to have
project tracker run over midterm.
[Study Technique]() may be a good candidate.
**Keywords** Signal Processing, 2D
| # | Topic | Reading | Keywords | Status |
| -: | :- | :- | :- | :- |
| 8 (14 Sep) | [Image Filters]() | Convolution. Filters. Blurring. | |
| 9 | [Corner Detection]() | Ma 2004:Ch 4.3, 4.A (SZ 4) | Calculate Gradient. Harris Feature Detector. | |
| 10 (21 Sep) | [Tracking Features]() | Ma 2004:Ch 4-4.2 | Tracking of Features. Tracking of Edges. | |
| 11 | [SIFT]() | | Feature Matching. Feature Descriptor. | |
| 12 (28 Sep) | [Edges]() | Ma 2004:Ch 4.4 | Canny, connected components, line fitting | |
| 13 | [Colour]() Models |
| 14 (5 Oct) | [Relative Pose]() | Ma 2004:Ch 5.1 | Triangulation. Relative Pose. Essential Matrix. |
| 15 | [Project Tracker]() | | [Multiscale Detection]() | |
| 16 (12 Oct) | *Self-Study* | Continue with [Tracking Features]() | - | - |
| 17 | Recap | | Status, review, repetition | |
| # | Topic | Reading | Keywords |
|---|---------------|-------------------|-----------------------------|
| 1 | [Corner Detection]() | Ma 2004:Ch 4-4.2 (SZ 4) | Calculate Gradient. Harris Feature Detector. |
| 2 | [Corner Detection in Python]() |
| 3 | [Tracking Features]() | Ma 2004:Ch 4.3-4.5 | Tracking of Features. Tracking of Edges. |
| 4 | [Tracking Features in Python]() |
# Chapter 5. Projective Reconstruction
| # | Topic | Reading | Keywords | Status |
|---|---------------|-------------------|-----------------------------| -: |
| 18 (19 Oct) | [Eight-point algorithm]() | Ma 2004:Ch 5.2 | Calculate Essential Matrix | OK |
| 19 | [Study Technique]() | Ma 2004:Ch 5.1 | Proof reading. | OK |
| 20 (26 Oct) | [Planar Scenes]()| Ma 2004:Ch 5.3 | |
| 21 (30 Oct) | [Epipolar Geometry]()| Ma 2004:Ch 5.1-3 | |
| 22 | self study [3D Reconstruction]() | Ma 2004:Ch 5.1-2 | Continuous on 18 [Eight-point algorithm]() using real image data | OK |
+ OpenCV/Python Tutorial
- Background: [Understanding Features](https://docs.opencv.org/master/df/d54/tutorial_py_features_meaning.html)
- [Harris Corner Detection](https://docs.opencv.org/master/dc/d0d/tutorial_py_features_harris.html)
- Overview
[Feature Detection and Description](https://docs.opencv.org/master/db/d27/tutorial_py_table_of_contents_feature2d.html)
+ Ma 2004 Chapter 11.1-2.
# Chapter X. Machine Learning
| # | Topic | Reading | Keywords |
|----|---------------|-------------------|-----------------------------|
| 23-24 | [Neural Networks]() | Szeliski 2022 Chapter 5 | Training. Testing |
| 25 | [Statistics]() | | Evaluation, Standard Deviation |
| 26 | [Object Detection]() | Szeliski 2022 Chapter 6 (6.3 in particular) | Object Detection |
| 27 | [Regression]() | | |
| 28 | [Distorted Space]() + Recap | Ma 2004:Ch 6.1-2 | Questions; Answers; module evalutaiton |
# Project 2. Projective Reconstruction (three weeks)
**Keywords** 3D, calibration, projection
# Other Material.
1. Ma 2004 Chapter (5)-6.
1. Ma 2004 Chapter 11.3.
+ [Overview of Python Demoes](Python/Overview)
+ The material is under constant review.
+ Any feedback is welcome.
+ Existing notes for [Review]()
# Project 3. Euclidean Reconstruction
# Old Material.
| # | Topic | Reading | Keywords |
|---|---------------|-------------------|-----------------------------|
| 24/2021 | [Stratified Reconstruction]() | Ma 2005:Ch 6.3-4 | |
| 25/2021 | [Partial Scene Information]() | Ma 2005:Ch 6.5 | |
| 26/2021 | [Real World Reconstruction]() | Ma 2004:Ch 11 | |
| 27/2021 | [Continuous Motion]() | Ma 2004:Ch 5.4 | |
1. Ma 2004 Chapter 10. Partial Scene Knowledge
- This is referenced as a building block in Chapter 11.
1. Ma 2004 Chapter 11.4.
# Project 4. Visualisation
**Keywords** texture, visualisation
1. Ma 2004 Chapter 11.5.
1. Ma 2004 Chapter 11.5. **Keywords** texture, visualisation
