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 recordings.
All slides from the previous year (last updated 2024-12-18, 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. | camera calibration from vanishing points, camera resection from 6 points, critical configurations for resection, the exterior orientation problem, the relative orientation problem | ||
| 05 | 22.10. | epipolar geometry, epipolar constraint, representation theorem, essential matrix decomposition | ||
| 06 | 29.10. | 7-point algorithm for fundamental matrix estimation, 5-point algorithm for essential matrix estimation, triangulation by algebraic error minimization | ||
| 07 | 05.11. | reprojection error, Sampson error correction, the golden standard triangulation method, local optimization for fundamental matrix estimation | ||
| 08 | 12.11. | joint matching and epipolar geometry estimation, robust error function, optimization by random sampling, RANSAC | ||
| 09 | 19.11. | MH sampler, camera system reconstruction from triples | ||
| 10 | 26.11. | camera system reconstruction from pairs, bundle adjustment, gauge freedom in bundle adjustment | ||
| 11 | 03.12. | minimal representations, matrix Lie groups, motion representation in SO(3) and SE(3), epipolar rectification | ||
| 12 | 10.12. | disparity, introduction to stereovision, occlusion constraints, matching table | ||
| 13 | 17.12. | Marroquin's WTA matching algorithm, maximum-likelihood matching algorithm, ordering constraint, stereo matching algorithm comparison | ||
| 14 | 07.01. | reserve, consultations |
The English-Czech and Czech-English dictionary of 3D Vision and its print-ready A5 booklet version