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Weak Perspective
Fourpoints deﬁne a projective transformation
Example 1: Removing Perspective Distortion
The Cone of Rays
Example 2: Synthetic Rotations
Images of Planes
Correspondence Geometry
Epipolarpencil
Epipolargeometry example
Homogeneous Notation Interlude
Matrix notation forvectorproduct
Algebraic representation - the Fundamental Matrix
Properties of F
Plane induced homographies given F
Statement of the problem
Projective ambiguity of reconstruction
Projective Distortion demo
Basic Theorem
Steps of projective reconstruction
Details of Projective Reconstruction - Computation of F
Factorization of the fundamental matrix
Non-uniqueness of factorization
Triangulation
Triangulation in presence of noise
Which 3D point to select ?
Problem statement
Lineartriangulation methods
Minimizing geometric error
Different formulation of the problem
Minimization method
Minimization method
Multiple local minima
Uncertainty of reconstruction
Basic equations
Single point equation - Fundamental matrix
Total set of equations
Solving the Equations
The singularity constraint
Computing F from 7 points
7-point algorithm
Correcting F using the SingularValue Decomposition
Complete 8-point algorithm
The normalized 8-point algorithm
Normalized 8-point algorithm
Statue images
Oxford Basement
Testing methodology
Normalization and 2D homography computation
Condition number
The algebraic minimization algorithm
The Algebraic Method
Solution assuming known epipole
Solution assuming known epipole - continued
Iterative Algebraic Estimation
Minimization of Geometric Error
The Gold Standard (ML) Method
Sparse Levenberg-Marquardt
Parametrization of rank-2 matrices
Epipolardistance - continued
Symmetric epipolardistance
Problem
Experimental Evaluation of the Algorithms
Experimental procedure
Covariance of P
Covariance of F
The envelope of epipolarlines
Special cases of F-computation
Pure translation
Cameras with the same principal plane
Degeneracies
Problem Statement
Robust line estimation
RANdom SAmple Consensus (RANSAC)
Feature extraction: “Cornerdetection”
Correlation matching
Correspondences consistent with epipolargeometry
Automatic Estimation of Fand correspondences
How many samples?
Reconstruction from two views
Two View Reconstruction Ambiguity
Algebraic Representation of Metric Reconstruction
Direct Metric Reconstruction
Stratiﬁed Reconstruction
Anatomy of a 3D projective transformation
Stratiﬁed reconstruction
Reduction to afﬁne
Reduction to afﬁne . .
Metric Reconstruction
Metric Reconstruction . .
The Absolute Conic
Using the inﬁnite homography
Example of calibration
Computation of K
Changing internal camera parameters
The Trifocal Tensor
Geometry of three views
Geometry of three views . .
The trifocal relationship
TensorNotation
TensorNotation . .
Summation notation
Example
More transformation examples
The tensor
Basic Trifocal constraint
Derivation of the basic three-view relationship
Deﬁnition of the trifocal tensor
Line Transfer
Line transfer
Point-transferand the trifocal tensor
Contraction of trifocal tensorwith a line
Three-point correspondence
Summary of transferformulas
Summary of incidence relations
Contraction on a point
Finding epipolarlines
Formula forTrifocal tensor
Where does this formula come from ?
Extraction of the camera matrices
Matrix formulas involving trifocal tensor
Linearequations forthe trifocal tensor
Summary of relations
Solving the equations
Solving the equations
Constraints
What are the constraints
Constraints through parametrization
Algebraic Estimation of T
Minimization knowing the epipoles
Minimization knowing the epipoles
Algebraic estimation of T
Iterative Algebraic Method
Outline
Reconstruction from three views
Automatic Estimation of the trifocal tensorand correspondences
Projective Reconstruction fora Sequence
Cameras and Scene Geometry foran Image Sequence
Interest points computed foreach frame
Point tracking: Correlation matching
Point tracking: Epipolar-geometry guided matching
Point tracking: Trifocal tensorguided matching
Reconstruction from Point Tracks
Application I:Graphical Models
Example II:Extended Sequence
Application II:Augmented Reality
3D Insertion
Acknowledgements
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Hartley Tut 4up

# Hartley Tut 4up

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06/12/2012

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