Reconstruction from 2 views
Epipolar geometry
Essential matrix
Eight-point algorithm
Stefano Soatto (c) 2002
UCLA Vision Lab
1
General Formulation
Given two views of the scene
recover the unknown camera
displacement and 3D scene
structure
Stefano Soatto (
From previous lectures
MASKS (c)
An Invitation to 3-D Vision
1
Transformation groups
MASKS (c)
An Invitation to 3-D Vision
2
Affine transformation
Not a linear transformation!
Can be made linear in HOMOGENEOUS
COORDINATES
MEMENTO!
will appear
everywhere
Image Primitives and Correspondence
Stefano Soatto
Computer Science Department
University of California at Los Angeles
Image Primitives and Correspondence
Given an image point in left image, what is the (corresponding) point in the right
image, which is t
From previous lectures
MASKS (c) 2004
An Introduction to 3-D Vision
1
Orthogonal group
What is the set of transformations that preserve the
inner product?
Remember inner product under a transformation?
More on this later
MASKS (c) 2004
An Introduction t
Image Primitives and Correspondence
Stefano Soatto
Computer Science Department
University of California at Los Angeles
Image Primitives and Correspondence
Given an image point in left image, what is the (corresponding) point in the right
image, which is t
CS M268 Discussion
Week 0
Weixin Li
lwx@cs.ucla.edu
Office Hours: BH 2432, W 1-3pm
time we will deal with vectors of real numbers R, occasionally, we will encounter
vectors of complex numbers2 C. For simplicity, our review will be conducted for
linear spa
Decision Tree
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w M
Find rules from training data 3&7 I W" WW?)
'Supervised learning D = cfw_(30, yo) - - . (3m :UnJ J/
'Used to predict future data :HLgi)
Play tennisZ.
'l
High Normal"
/ \
.r'r; Tut's
gure from Nevin L. Zhang, 2009
From last time
MASKS (c)
An Introduction to 3-D Vision
1
Rodrigues formula
Beautiful!
Toss Euler angles, Y-P-R, quaternions etc.
Check Matlab code in laboratory exercises
MASKS (c)
An Introduction to 3-D Vision
2
Homogeneous representation
Points
Vectors