https://cw.fel.cvut.cz/b181/ 2026-05-03T16:33:30+0200 https://cw.fel.cvut.cz/b181/ https://cw.fel.cvut.cz/b181/lib/tpl/bulma-cw/images/favicon.ico text/html 2018-10-23T12:49:31+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b181/courses/tdv/labs/0_geometry?rev=1540291771&do=diff Basic Geometry Points and Lines in a Plane This is a simple task that demonstrates working with homogeneous planar points and lines. Task 0-1 [1, 1][800, 600]H = [1 0.1 0; 0.1 1 0; 0.004 0.002 1 ]; Example result of this task is shown in text/html 2018-10-02T12:40:20+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b181/courses/tdv/labs/1_input_data?rev=1538476820&do=diff Input Data Capture and Preprocessing Scene capture The goal of the work during the whole term is to reconstruct a 3D object (scene) from its images. In order to make the task manageable, we have chosen such a scene, that is relatively uncomplicated considering 3D computer vision methods: a decorative portal. The simplicity of such a scene lies in the fact, that the scene is almost planar and small number of views is enough for reconstruction. text/html 2018-10-01T10:58:04+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b181/courses/tdv/labs/2_sparse_correspondences?rev=1538384284&do=diff Seeking of Sparse Correspondences The WBS matcher (code repository) is a tool for seeking a sparse correspondences. The matcher makes use of descriptors of interest points in the image. These IP descriptors are generated independently for each image, and then the descriptors of particular image pair are matched in order to establish pairwise correspondences. So it is recommended to first pre-compute and store descriptors for all the images, and then use them for pairwise matching. text/html 2018-10-01T10:58:04+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b181/courses/tdv/labs/3_epipolar_geometry?rev=1538384284&do=diff Robust Estimation of Calibrated Epipolar Geometry of Image Pairs Calibrated epipolar geometry is characterised by essential matrix, that encodes relative translation and rotation. The matrix can be estimated using image-to-image correspondences. Since the tentative correspondences are assumed to contain errors, a robust estimation method should be used. Then an epipolar geometry is found, together with a sub-set of correspondences that are consistent with it (allowing some defined inaccuracy). … text/html 2018-10-01T10:58:04+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b181/courses/tdv/labs/4_cameras_and_scene_structure?rev=1538384284&do=diff Cameras and Scene Structure This phase assumes that calibrated epipolar geometry is established between pairs of images, i.e. the relative translations and rotations are known. For every pair, we can choose the coordinate system origin in the centre of the first camera of the pair. The pose of the second camera is then expressed in this particular coordinate system, but with an unknown scale. Now we need to find the positions and orientations of cameras in a single coordinate system, that is co… text/html 2018-10-01T10:58:04+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b181/courses/tdv/labs/5_surface_reconstruction?rev=1538384284&do=diff Surface Reconstruction Now we assume that all cameras are calibrated with respect to the common (global) coordinate system. The last phase of 3D scene reconstruction is (dense) reconstruction of surface. Epipolar Rectification and Stereo-matching text/html 2018-10-01T10:58:04+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b181/courses/tdv/labs/matlab_and_geometry?rev=1538384284&do=diff Image coordinate system The choice of an image coordinate system is a matter of convention in most cases. As introduced in the lectures, we will use the left handed image coordinate system, with the first axis (u) pointing right and the second axis ( text/html 2018-10-01T10:58:04+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b181/courses/tdv/labs/report_requirements?rev=1538384284&do=diff Requirements for the final report This is currently obsolete and not valid.... The final report need not be written as full technical report, we need only documentation of your results. Required Content Keep the text brief. It is OK when only standard methods are used and there is nothing more to be written. text/html 2018-10-01T10:58:04+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b181/courses/tdv/labs/results?rev=1538384284&do=diff Results Resulting 3D models (year 2010) Complete overview of all modelsBrief overview of modelsModel created by us text/html 2018-10-01T11:28:29+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b181/courses/tdv/labs/start?rev=1538386109&do=diff TDV − exercises The goal of exercises is to practice the 3D reconstruction techniques explained at lectures. During the exercises, students will build up complete system for reconstruction of a surface of a 3D scene given its images. Implementation if this system and its use for the reconstruction is solved as a term project, and it is subject of the exercises. Students are working individually during the exercises as well as on the term project. text/html 2018-10-01T10:58:04+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b181/courses/tdv/labs/toolbox?rev=1538384284&do=diff Toolbox of Elementary and Helper Functions Following functions should be implemented. It is important to keep the specified calling convention (order of arguments, shape of matrices, etc). Note: vectors of coordinates (e.g., points) should be :!: always columns