Updated lecture slides are ready for download before the lecture. They get annotated during the lecture and appear here after the lecture.
The program of upcoming lectures is only provisional.
All slides (last updated 2025-12-17, without course overview)
| Week | Date | Updated Slides | Annotated Slides | Lecture Content |
|---|---|---|---|---|
| 01 | 24.09. | Introduction (videos) Course_Overview | 3D computer vision, its goals and applications, course overview | |
| Lecture 1 | L1 | basic geometry of points and lines, homography | ||
| 02 | 01.10. | Lecture 2 | L2 | perspective camera, projection matrix decomposition, optical center, optical ray |
| 03 | 08.10. | Lecture 3 | L3 | optical axis, optical plane, perspective projection from a plane, vanishing point, cross-ratio, projective coordinates |
| 04 | 15.10. | Lecture 4 | L4 | camera calibration from vanishing points, camera resection from 6 points, critical configurations for resection |
| 05 | 22.10. | Lecture 5 | L5 | the exterior orientation problem, the relative orientation problem, epipolar geometry, epipolar constraint |
| 06 | 29.10. | Lecture 6 | L6 | representation theorem, essential matrix decomposition, 7-point algorithm for fundamental matrix estimation |
| 07 | 05.11. | Lecture 7 | L7 | 5-point algorithm for essential matrix estimation, triangulation by algebraic error minimization, reprojection error |
| 08 | 12.11. | Lecture 8 | L8 | Sampson error correction, the golden standard triangulation method, local optimization for fundamental matrix estimation |
| 09 | 19.11. | Lecture 9 | L9 | joint matching and epipolar geometry estimation, robust error function, optimization by random sampling, RANSAC, MH sampler |
| 10 | 26.11. | Lecture 10 | L10 | camera system reconstruction from triples, camera system reconstruction from pairs, bundle adjustment |
| 11 | 03.12. | Lecture 11 | L11 | gauge freedom in bundle adjustment, minimal representations, matrix Lie groups, motion representation in SO(3) and SE(3) |
| 12 | 10.12. | Lecture 12 | L12 | epipolar rectification, disparity, introduction to stereovision |
| 13 | 17.12. | Lecture 13 | L13 | occlusion constraints, matching table, Marroquin's WTA matching algorithm, maximum-likelihood matching algorithm, ordering constraint, stereo matching algorithm comparison |
| 14 | 07.01. | — | — | reserve, consultations (Room KN:E-G103, pls email beforehand) |
The English-Czech and Czech-English dictionary of 3D Vision and its print-ready A5 booklet version