DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING

UNIVERSITY OF CALIFORNIA, SAN DIEGO

Instructor: Serge Belongie, Assistant Professor, AP&M room 4832. Office Hours: MTu 1:30pm-2:30pm

Class section id for CSE252: #442306.

Lecture: TuTh 3:55pm-5:15pm, 207 Center Hall.

Topics to be Covered:

1. mathematical foundations2. cameras & image formation

3. stereopsis

4. motion

5. feature extraction

6. texture

7. image segmentation

8. object recognition

Prerequisites: linear algebra, calculus, probability and statistics. Background in signal/image processing is helpful but not required.

This course makes extensive use of Matlab. Click here for information on Matlab.

Handouts:

**Assignment #0**(Introducing Matlab) [txt]- Computing Rotations in 3D [html]
- The Interpretation of a Moving Retinal Image (
*Longuet-Higgins and Prazdny*) [pdf] **Assignment #1**[pdf][ps]- Reconstruction from Two Calibrated Views (Ch.5 of
*Ma, Soatto, Kosecka and Sastry*) [ps.gz] - A computer algorithm for reconstructing a scene from two projections (
*Longuet-Higgins*) [pdf] - In Defense of the Eight Point Algorithm (
*Hartley*) [pdf] - A Fast Operator for Detection and Precise Location of Distinct Points, Corners and Centres of Circular Features (
*Förstner and Gülch*) [pdf] - Notes on Corner Detection [ps]
- Useful Matrix Formulae (
*Roweis*) [ps.gz][pdf] - Junction detection with automatic selection of detection scales and localization scales (
*Lindeberg*) [ps.Z] **Assignment #2**[pdf][ps][files]- An Algorithm for Associating the Features of Two Images (
*Scott and Longuet-Higgins*) [pdf] - Uncalibrated Stereo Correspondence by Singular Value Decomposition (
*Pilu*) [html] - New Algorithms for 2D and 3D Point Matching: Pose Estimation and Correspondence (
*Gold, Rangarajan, et al.*) [ps.gz] - Stereopsis (Ch.13 of
*Forsyth and Ponce*) [pdf] - RANSAC paper (
*Fischler and Bolles*) [pdf] - The Development and Comparison of Robust Methods for Estimating the Fundamental Matrix (
*Torr and Murray*) [pdf] - Stereo by Intra- and Inter-Scanline Search Using Dynamic Programming (
*Ohta and Kanade*) [pdf] - Depth from edge and intensity based stereo (
*Baker and Binford*) [pdf] - Computational framework for determining stereo correspondence from a set of linear spatial filters (
*Jones and Malik*) [pdf] - The Design and Use of Steerable Filters (
*Freeman and Adelson*) [html] - Linear scale-space: I. Basic theory, II. Early visual operations (
*Lindeberg and ter Haar Romeny*) [html] - Deformable kernels for early vision (
*Perona*) [ps.Z][pdf] - Texture (Ch.11 of
*Forsyth and Ponce*) [pdf] - Preattentive texture discrimination with early vision mechanisms (
*Malik and Perona*) [pdf] - Non-parametric similarity measures for unsupervised texture segmentation and image retrieval (
*Puzicha et al.*) [ps.gz] - Pyramid Based Texture Analysis/Synthesis (
*Heeger & Bergen*) [pdf] **Assignment #3**[pdf][ps][files]- Principles of Global Illumination (Ch.2 of
*Sillion and Puech*) [pdf] - Helmholtz Stereopsis: Exploiting Reciprocity for Surface Reconstruction (
*Zickler, Belhumeur and Kriegman*) [pdf] - An iterative image registration technique with an application to stereo vision (
*Lucas and Kanade*) [pdf] - Good Features to Track (
*Shi and Tomasi*) [html] - The Principle of Least Action (Book 2, Ch.19 of
*Feynman, Leighton and Sands*) [pdf] - Motion Field and Optical Flow (Ch.12 + Appendix A.6 of
*Horn*) [pdf] - Principal warps: thin-plate splines and the decomposition of deformations (
*Bookstein*) [pdf] - Computational vision and regularization theory (
*Poggio, Torre and Koch*) [pdf] - Regularization theory and neural networks architectures. (
*Girosi, Jones and Poggio*) [ps.gz] - Reconstructing a Smooth Surface (Sec. 4.4 of
*Hertz, Krogh and Palmer*) [pdf] - Laws of Organization in Perceptual Forms (
*Wertheimer*) [html] - Segmentation using clustering methods (Ch.16 of
*Forsyth and Ponce*) [pdf] - A Database of Human Segmented Natural Images and its Application ... (
*Martin, Fowlkes, Tal and Malik*) [pdf] - Reversible Markov Chains and Random Walks on Graphs (
*Aldous and Fill*) [pdf] - Normalized cuts and image segmentation (
*Shi and Malik*) [pdf] - A Random Walks View of Spectral Segmentation (
*Meila and Shi*) [ps] - Notes on Spectral Partitioning (
*Demmel*) [html] **Assignment #4**[pdf][ps][files]- Snakes: active contour models (
*Kass, Witkin and Terzopoulos*) [pdf] - The representation and matching of pictorial structures (
*Fischler and Elschlager*) [pdf] - Deformable templates for face recognition (
*Yuille*) [pdf] - Shape Matching and Object Recognition Using Shape Contexts (
*Belongie, Malik and Puzicha*) [pdf] - Geometric Hashing: An Overview (
*Wolfson and Rigoutsos*) [pdf] - Method and Means for Recognizing Complex Patterns (
*Hough*) [pdf] - Generalizing the Hough Transform to Detect Arbitrary Shapes (
*Ballard*) [pdf] - Efficient Pose Clustering Using a Randomized Algorithm (
*Olson*) [pdf] - CONDENSATION: Conditional Density Propagation for Visual Tracking (
*Isard and Blake*) [pdf] - Eigenfaces for Recognition (
*Turk and Pentland*) [pdf] - Bayesian Face Recognition (
*Moghaddam, Jebara and Pentland*) [pdf] - Recognition by linear combinations of models (
*Ullman and Basri*) [pdf] - Shape and Motion from Image Streams: A Factorization Method (
*Tomasi and Kanade*) [pdf] - Recognition by Relations between Templates (Ch.22 of
*Forsyth and Ponce*) [pdf] **Final Exam**[pdf][ps]

Lectures:

- April 2: Perspective Projection, Rigid Body Transformations.
- April 4: Equations of the Motion Field, Parallax, Time-to-Collision.
- April 9: Geometry of Stereopsis, Epipolar Constraint.
- April 11: 3D Reconstruction, Plane-to-Plane Homography, Interest Point Detection.
- April 16: Corner Detection, Windowed Image Second Moment Matrix, Scale Selection.
- April 18: The Correspondence Problem, Sparse Stereo Matching.
- April 23: Dense Stereo Matching: Correlation- and Filter-Based Methods.
- April 25: Edge Detection, Quadrature Filters, Steerable Filters.
- April 30: Texture Analysis and Recognition.
- May 2: Photometry, Shape from Shading.
- May 7: Measuring Optical Flow.
- May 9: Models of Planar Transformation.
- May 14: Perceptual Organization, Gestalt Cues for Grouping, Normalized Cut.
- May 16: Normalized Cut (Continued), Multiway Partitioning.
- May 21: Feature-based Methods for Recognition.
- May 23: Appearance-based Methods for Recognition.
- May 28: (Jianbo Shi guest lecture) Detecting and Tracking Articulated Objects.
- May 30: (Jochen Triesch guest lecture) Architectures for Object Recognition, Elastic Graph Matching.
- June 4: Highlights from ECCV2002.
- June 6: Summary and Review for Final Exam.

Links:

- Announcements
- Homework Progress Meeting Schedule
- eigshow: interactive exploration of eigenvalues and singular values
- Matlab information
- CSE 252 e-reserves
- Camera Calibration Toolbox for Matlab
- Intel OpenCV
- CVonline
- The Computer Vision Home Page
- Home Page for CSE 190 (Image Processing)

Events of Interest:

- Henrik Wann Jensen, May 3, 2002, Friday 11:00am to 12:00pm, AP&M 4301, Rendering Translucent Materials.
- Christoph von der Malsburg, 4/10/02 at 5:00 PM, CSB 003, Learning Visual Recognition and Imitation.
- Joachim Denzler, Tuesday, April 9, 2002 NOON, CSB 003, Optimal Active Vision for Object Recognition.
- Weekly AI Seminar Mondays 12:10pm-1:10pm.

Required textbook:

Introductory Techniques for 3-D Computer Vision Trucco & Verri Prentice Hall ISBN no. 0132611082 |

Computer Vision -- A Modern Approach by Forsyth and PonceHandy Math reference:

Vision Science: Photons to Phenomenology by Stephen E. Palmer

MathWorld

*Most recently updated on Apr. 2, 2002 by Serge Belongie.*