Upload system Forum
Schedule: A4M33TDV AE4M33TDVXP33VID
Students: A4M33TDV AE4M33TDVXP33VID

TDV − 3D Computer Vision (Winter 2016)


This course introduces methods and algorithms for 3D geometric scene reconstruction from images. The student will understand these methods and their essence well enough to be able to build variants of simple systems for reconstruction of 3D objects from a set of images or video, for inserting virtual objects to video-signal source, or for computing ego-motion trajectory from a sequence of images. The labs will be hands-on, the student will be gradually building a small functional 3D scene reconstruction system.

Lectures: Tuesday 12:45-14:15, KN:E-126

Lecturer: Radim Šára

Lecture slides are ready for download before the lecture. They get annotated during the lecture and appear here after the lecture.

All slides in a single file (without course overview)

All annotated slides in a single file

Week Date Slides Annotated Slides Lecture Content
1 4.10. Introduction (big!) Course Overview 3D computer vision, its goals and applications, course overview
Lecture 1 L1 annotated basic geometry of points and lines, introduction to homography
2 11.10. Lecture 2 L2 annotated homography subgroups, projective camera, projection matrix decomposition
3 18.10. Lecture 3 L3 annotated optical center, ray, axis, plane; vanishing point, cross-ratio
4 25.10. Lecture 4 L4 annotated camera calibration from vanishing points, camera resection from 6 points, critical configurations for resection, the exterior orientation problem
5 1.11. Lecture 5 L5 annotated epipolar geometry, epipolar constraint
6 8.11. Lecture 6 L6 annotated essential matrix decomposition, 7-point algorithm for fundamental matrix estimation, 5-point algorithm for essential matrix estimation, introduction to triangulation
7 15.11. Lecture 7 L7 annotated triangulation by algebraic error minimization, reprojection error, Sampson error correction, golden standard triangulation method
8 22.11. Lecture 8 L8 annotated local optimization, robust error function
9 29.11. Lecture 9 L9 annotated optimization by random sampling, MH sampler, RANSAC
10 6.12. Lecture 10 L10 annotated camera system reconstruction, bundle adjustment
11 13.12. Lecture 11 L11 annotated gauge freedom in bundle adjustment, introduction to stereovision
12 20.12. Lecture 12 L12 annotated epipolar rectification, occlusion constraint
13 3.1. Lecture 13 L13 annotated matching table, Marroquin's WTA matching algorithm, maximum-likelihood matching algorithm, ordering constraint, stereo matching algorithm comparison
14 10.1. Lecture 14 L14 annotated photometric stereo

The English-Czech and Czech-English dictionary of 3D Vision and its print-ready A5 booklet version

Exercises (requirements)

Teacher: Martin Matoušek

Details about exercises (technical content and assessment) are in the separate section Exercises.

Notice: according to the study and examination code of CTU1), attendance at lectures is not mandatory (but recommended). However, students attending exercises are required to be theoretically prepared. The necessary theory is explained at the preceding lectures and can be also found in the recommended literature.

Requirements for the Credit

  1. Attending the exercises is mandatory, two absences are allowed.
  2. Submission/presentation of all required intermediate results.
  3. Submission of milestone reports.
  4. Submission of all required elementary methods that must pass automatic check.
  5. Submission of final report and results of the term project.
  6. Submission of all homework problems assigned during lectures.


Student assessment is based on scoring in the nominal range 0−100 points. There is also possibility to obtain some additional bonus points. The points are allocated to lectures, labs, homework problems and exam as follows:

Nominal points Minimal points Bonus points
Exercises – regular work 18
Exercises – project 27
Homework assignments given at lectures 9 TBA
Exam – Test 1 10 3
Exam – Test 2 24 6
Exam – oral 12
Total 100 +TBA

The answers to bonus-point questions from the lectures are due on January 17, 2016 at the latest.

Assessment of Exercises is described in detail in the section of exercises.

The total of all points, including the bonuses is arithmetically rounded up and clipped at 100.

The grade is then given by the standard table (100−90⇒A, 89−80⇒B, 79−70⇒C, 69−60⇒D, 59−50⇒E, ≤ 49 ⇒ F).


The 1st exam test is done during the semester. The 2nd test is part of the exam at the end. The exam has two parts, usually, one day we do the test and the other day we have the oral part. The oral part is mandatory to achieve the A–B grades; it tests the ability to solve small problems; at least 5 points must be achieved, otherwise the final grade is C.

Additional Info

There is also a discussion forum (see link in the page head). Questions, feedback and comments on lectures or exercises are welcome.


Lectures: Radim ŠáraExercises: Martin Matoušek
KN, room G 103KN, room C 104
phone (22435) 7203phone (22435) 7305
Podpořeno OPPA. Spolufinancováno Evropským sociálním fondem. Praha & EU: Investujeme do vaší budoucnosti.
1) Rev. Oct 1, 2015, in Czech, or Rev, Oct 1, 2015, in English: Article 7, Paragraph 5
courses/a4m33tdv/start.txt · Last modified: 2017/01/10 15:42 by sara