====== TDV - Lectures ===== 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. /* Recordings from the previous course run are meant as supporting material, not a substitute for lectures. The live version may differ from the past recordings. */ /* **New:** {{http://cmp.felk.cvut.cz/cmp/courses/TDV/2021W/lectures/tdv-2021-01c.pdf|Lecture 1}} {{http://cmp.felk.cvut.cz/cmp/courses/TDV/2021W/lectures/tdv-2021-01c-annotated.pdf|L1}} [[http://cmp.felk.cvut.cz/cmp/courses/TDV/2021W/lectures/tdv-2021-01.mp4|R1]] */ /*{{http://cmp.felk.cvut.cz/cmp/courses/TDV/2022W/lectures/tdv-2022-midterm.pdf| All slides up to the midterm test (last updated 2023-12-19, without course overview)}}*/ {{http://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-all.pdf| All slides (last updated 2025-12-17, without course overview)}} /* [[https://www.youtube.com/playlist?list=PLQL6z4JeTTQkyJ5oiDHT1aoA-boNefETS|YouTube channel for KN:E-310]] */ [[https://www.youtube.com/playlist?list=PLQL6z4JeTTQlL-Dvn3wdtKIc04n-FEi3U|YouTube playlist]] ^ Week ^ Date ^ Updated Slides ^ Annotated Slides ^ Lecture Content ^ | 01 | 24.09. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-01a.pdf|Introduction}} \\ {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2023W/lectures/Videos.zip|(videos)}} \\ {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-01b.pdf|Course_Overview}} | | 3D computer vision, its goals and applications, course overview | | ::: | ::: | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-01c.pdf|Lecture 1}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-01c-annotated.pdf|L1}} | basic geometry of points and lines, homography | | 02 | 01.10. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-02.pdf|Lecture 2}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-02-annotated.pdf|L2}} | perspective camera, projection matrix decomposition, optical center, optical ray | | 03 | 08.10. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-03.pdf|Lecture 3}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-03-annotated.pdf|L3}} | optical axis, optical plane, perspective projection from a plane, vanishing point, cross-ratio, projective coordinates | | 04 | 15.10. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-04.pdf|Lecture 4}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-04-annotated.pdf|L4}} | camera calibration from vanishing points, camera resection from 6 points, critical configurations for resection | | 05 | 22.10. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-05.pdf|Lecture 5}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-05-annotated.pdf|L5}} | the exterior orientation problem, the relative orientation problem, epipolar geometry, epipolar constraint | | 06 | 29.10. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-06.pdf|Lecture 6}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-06-annotated.pdf|L6}} | representation theorem, essential matrix decomposition, 7-point algorithm for fundamental matrix estimation | | 07 | 05.11. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-07.pdf|Lecture 7}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-07-annotated.pdf|L7}} | 5-point algorithm for essential matrix estimation, triangulation by algebraic error minimization, reprojection error | | 08 | 12.11. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-08.pdf|Lecture 8}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-08-annotated.pdf|L8}} | Sampson error correction, the golden standard triangulation method, local optimization for fundamental matrix estimation | | 09 | 19.11. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-09.pdf|Lecture 9}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-09-annotated.pdf|L9}} | joint matching and epipolar geometry estimation, robust error function, optimization by random sampling, RANSAC, MH sampler | | 10 | 26.11. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-10.pdf|Lecture 10}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-10-annotated.pdf|L10}} | camera system reconstruction from triples, camera system reconstruction from pairs, bundle adjustment | | 11 | 03.12. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-11.pdf|Lecture 11}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-11-annotated.pdf|L11}} | gauge freedom in bundle adjustment, minimal representations, matrix Lie groups, motion representation in SO(3) and SE(3) | | 12 | 10.12. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-12.pdf|Lecture 12}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-12-annotated.pdf|L12}} | epipolar rectification, disparity, introduction to stereovision | | 13 | 17.12. | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-13.pdf|Lecture 13}} | {{https://cmp.felk.cvut.cz/cmp/courses/TDV/2025W/lectures/tdv-2025-13-annotated.pdf|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) | {{http://cmp.felk.cvut.cz/cmp/courses/TDV/2010W/lectures/3DV-slovnik.pdf|The English-Czech and Czech-English dictionary of 3D Vision}} and {{http://cmp.felk.cvut.cz/cmp/courses/TDV/2010W/lectures/3DV-slovnik-booklet.pdf| its print-ready A5 booklet version}}