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.

All slides (last updated 2025-12-17, without course overview)

YouTube playlist

Week	Date	Updated Slides	Annotated Slides	Lecture Content
01	24.09.	Introduction (videos) Course_Overview		3D computer vision, its goals and applications, course overview
01	24.09.	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