DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING
UNIVERSITY OF CALIFORNIA, SAN DIEGO
CSE 252B: Computer Vision II
Spring 2013
Instructor: David Kriegman, Professor, EBU3B 4120. Office Hours: Wednesday 3:00-4:00pm.
Teaching Assistant: Jameson Merkow. Office Hours: Monday 2-3pm EBU3B B250A. Email: jmerkow _at_ ucsd.edu
Note: when emailing the instructor or TA with questions about the class, please put "[CSE252B]" in the subject line.
Lecture: TTH 3:30-4:50pm, WLH 2205.
Final: June 10, 2013, 3:00-6:00pm. Room TBA.
Class mailing list: Piazza.
Topics to be Covered:
Geometric models of image formation. Projective Geometry. Interest point detection. Robust feature matching across wide baselines. Calibrated and uncalibrated reconstruction of 3D models of objects from 2D images. Construction of photo-mosaics. Camera calibration. Optimal camera pose and structure estimation.
Prerequisites: linear algebra, calculus, probability and statistics.
This course makes extensive use of Matlab. Click here for
information on Matlab. Assignments should be prepared using
LaTeX.
Here is the class discussion board. If you want to ask a question which may be of interest to others, please ask it on the discussion board. By the same token, before emailing the instructor or the TA with a question, first see if it has been asked on the discussion board.
Readings:
- Introducing Matlab [html]
- Linear Algebra Review pdf
- MaSKS Ch. 1-3 Read before Assignment #1
- MaSKS Sec. 5.1, 5.2.1-5.2.2, 5.3
- A computer algorithm for reconstructing a scene from two projections (Longuet-Higgins) [pdf]
- In Defense of the Eight Point Algorithm (Hartley) [pdf]
- Perspective Transform Estimation (Wren) [html]
- A Plane Measuring Device (Criminisi, Reid and Zisserman) [html] [ps.gz]
- Algorithms for Plane-Based Pose Estimation (Sturm) [pdf]
- Metric Rectification for Perspective Images of Planes (Liebowitz and Zisserman) [pdf]
- Autocalibration from Planar Scenes (Triggs) [pdf]
- MaSKS Ch. 6 and Appendix 6.A
- Motion and structure from point correspondences with error estimation: planar surfaces (Weng, Ahuja and Huang) [pdf]
- Self Calibration from Multiple Views with a Rotating Camera (Hartley) [pdf]
- Self-calibration of rotating and zooming cameras (de Agapito, Hayman and Reid) [pdf]
- MaSKS Sec. 5.2.3
- MaSKS Ch. 4
- A Fast Operator for Detection and Precise Location of Distinct Points, Corners and Centres of Circular Features (Förstner and Gülch) [pdf]
- Junction detection with automatic selection of detection scales and localization scales (Lindeberg) [ps.Z]
- Feature Based Methods for Structure and Motion Estimation (Torr and Zisserman) [pdf]
- The Development and Comparison of Robust Methods for Estimating the Fundamental Matrix (Torr and Murray) [pdf]
- SIFT Keypoint Detector (Lowe) [website] [pdf]
- MSER paper (Matas et al.) [pdf]
- An iterative image registration technique with an application to stereo vision (Lucas and Kanade) [pdf]
- Good Features to Track (Shi and Tomasi) [ps] [pdf] Tech Report [ps]
- Making Good Features to Track Better (Tommasini et al.) [pdf]
- Hitchcock Zoom effect (Wikipedia) [www]
- Shape and Motion from Image Streams: A Factorization Method (Tomasi and Kanade) [pdf]
- Affine Structure from Motion (Koenderink and van Doorn) [pdf]
Handouts
- Lecture 2 Slides pdf
- Lecture 3 Slides pdf
- Slide up to May 28 pdf
- H & Z E-Reserve link Password available on piazza.
- H & Z Chapter 2 Scan pdf
- Lecture 19 Slides pdf
- Lecture 20 Slides pdf
Assignments
- Assignment #1 [pdf] (Due Date: Apr 30)
- Assignment #2 [pdf] [files] (Due Date: May 16th)
- Assignment #3 [pdf] [files] (Due Date: June 4th)
- Assignment #4 [pdf] [files] (Due Date: June 14th, No Extensions)
Lecture Topics (tentative):
- Lecture 1 (Apr. 2): Geometry of Image Formation, Homogeneous Coordinates
- Lecture 2 (Apr. 4): Homogeneous Linear Least Squares Problems, Two View Geometry
- Lecture 3 (Apr. 9): Epipolar Geometry, Calibrated Reconstruction
- Lecture 4 (Apr. 11): Planar Scenes and Homography
- Lecture 5 (Apr. 16): Relationships between the Homography and the Essential Matrix
- Lecture 6 (Apr. 18): Stratification in 2D: from Projective to Affine to Euclidean
- Lecture 7 (Apr. 23): Uncalibrated Epipolar Geometry
- Lecture 8 (Apr. 25): Projective Reconstruction
- Lecture 9 (Apr. 30): Affine and Euclidean Reconstruction
- Lecture 10 (May 2): Camera Calibration
- Lecture 11 (May 7): Optimal Pose and Structure
- Lecture 13 (May 9): Interest Point Detection
- Lecture 14 (May 14): Robust Feature Matching
- Lecture 15 (May 16): Feature Tracking and Optical Flow
- Lecture 16 (May 21): Orthographic Structure from Motion using Tracked Points
- Lecture 17 (May 23): Linear Algebra in Structure from Motion
- Lecture 18 (May 28): TBA
- Lecture 19 (May 30): TBA
- Lecture 20 (June 4): TBA
- Lecture 21 (June 6): TBA
Links:
Required textbook:
Relevant non-required textbooks:
Multiple View Geometry in Computer Vision, 2nd edition [e-book] by Hartley & Zisserman
Computer Vision -- A Modern Approach by Forsyth and Ponce
Introductory Techniques for 3-D Computer Vision by Trucco & Verri
The Geometry of Multiple Images by Faugeras, Luong, and Papadopoulo
Vision Science: Photons to Phenomenology by Stephen E. Palmer
Handy Math reference:
MathWorld
