Warning

Schedule: B4M33TDV BE4M33TDVXP33VID
Students: B4M33TDV BE4M33TDVXP33VID
Faculty web: B4M33TDVBE4M33TDVXP33VID

MS Teams channel: Lectures

TDV − 3D Computer Vision (Winter 2021)

Motivation

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 the 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 gradually build a small functional 3D scene reconstruction system.

 Fig. 1: an example of input images Fig. 2: resulting vrml model

Lectures: Tuesday 12:45-14:15

Location: KN:E-127 New: KN:E-112

Updated lecture slides are ready for download before the lecture. They get annotated during the lecture and appear here after the lecture. Recordings are from the previous course run and are meant as supporting material, not a substitute for lectures. The live version may differ from the recordings.

Week Date Updated Slides Annotated Slides Recording Lecture Content
01 21.09. Introduction
(videos)
Course_Overview
3D computer vision, its goals and applications, course overview
Lecture 1 L1 R1 basic geometry of points and lines
02 28.09. State holiday
03 05.10. Lecture 2 L2 R2 homography, perspective camera
04 12.10. Lecture 3 L3 R3 projection matrix decomposition, optical center, optical ray, axis, plane; vanishing point, cross-ratio
05 19.10. Lecture 4 L4 R4 camera calibration from vanishing points, camera resection from 6 points, critical configurations for resection
06 26.10. Lecture 5 L5 R5 the exterior orientation problem, the relative orientation problem, epipolar geometry, epipolar constraint
07 02.11. Lecture 6 L6 R6 essential matrix decomposition, 7-point algorithm for fundamental matrix estimation
08 09.11. Lecture 7 L7 R6-partB 5-point algorithm for essential matrix estimation, triangulation by algebraic error minimization, reprojection error, Sampson error correction
09 16.11. Lecture 8 L8 R8 the golden standard triangulation method, local optimization for fundamental matrix estimation, joint matching and epipolar geometry estimation, robust error function
10 23.11. Lecture 9
(videos)
L9 R9 optimization by random sampling, MH sampler
11 30.11. Lecture 10 L10 R10 RANSAC, camera system reconstruction from triples
12 07.12. Lecture 11 L11 R11 camera system reconstruction from pairs, bundle adjustment
13 14.12. Lecture 12 L12 R12 gauge freedom in bundle adjustment, minimal representations, introduction to stereovision, epipolar rectification
14 04.01. Lecture 13 L13 R13 occlusion constraints, matching table, Marroquin's WTA matching algorithm, maximum-likelihood matching algorithm, ordering constraint, stereo matching algorithm comparison

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 all required elementary methods that must pass automatic check.
4. Submission of results of the term project.
5. Submission of all homework problems assigned during lectures.

Assessment

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 45
Homework assignments given at lectures 9 14
Midterm test 10 3
Exam test 24 6
Exam – oral 12
Total 100 +14

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).

Exam

The first test is done during the semester. The second test is a 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.

 Lectures: Radim Šára Exercises: Martin Matoušek Exercises: Jaroslav Moravec sara@cmp.felk.cvut.cz Martin.Matousek@cvut.cz moravj34@fel.cvut.cz KN, room 103 Dejvice, CIIRC, room B606 KN, room 103 virtual office Virtual office phone (22435) 7203 phone (22435) 4221 Usermap Usermap Usermap