Difference between revisions of "3D Structure From Visual Motion"

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(Slides and lecture notes)
(Suggested Bibliography)
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* R. Hartley, A. Zisserman. [http://www.robots.ox.ac.uk/~vgg/hzbook/index.html Multiple View Geometry in Computer Vision], Cambridge University Press, March 2004.
 
* R. Hartley, A. Zisserman. [http://www.robots.ox.ac.uk/~vgg/hzbook/index.html Multiple View Geometry in Computer Vision], Cambridge University Press, March 2004.
 
* S. Thrun, W. Burgard, D. Fox. [http://www.probabilistic-robotics.org/ Probabilistic Robotics], MIT Press, September 2005.
 
* S. Thrun, W. Burgard, D. Fox. [http://www.probabilistic-robotics.org/ Probabilistic Robotics], MIT Press, September 2005.
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* Papers you might find useful to deepen your study:
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Revision as of 19:03, 7 June 2009


Course Aim & Organization

This is a description page for the PhD course on 3D Structure from Visual Motion: Novel Techniques in Computer Vision and Autonomous Robots/Vehicles. It is meant to present modern techniques to simultaneously estimate the unknown motion of a camera while reconstructing the 3D structure of the observed world to be applied un scientific fields such as: 3D reconstruction, autonomous robot navigation, aerial/field surveying, unmanned vehicle maneuvering, etc.

Teachers

Although formally entitled to just one of the teachers the course is held by (in order of appearance)

Course Schedule

21/05/2009 [14:30-18:30] Sala Seminari (DEI)

  • Course introduction (M. Matteucci)
  • Projection model and projection matrix (V. Caglioti)

25/05/2009 [14:30-17:30] Sala Conferenze (DEI)

  • Correspondence analysis: tracking and ransac (D. Migliore)

29/05/2009 [14:30-18:30] Sala Conferenze (DEI)

  • Fundamental and Essential matrices (V. Caglioti)
  • Motion extraction and 3D reconstruction (V. Caglioti)
  • Visual odometry (V. Caglioti)

03/06/2009 [09:30-13:30] Sala Seminari (DEI)

  • Correspondences tracking and analysis(M. Marcon)
  • Combined estiamation of 3D structure and camera egomotion (M.Marcon)

05/06/2009 [14:30-18:30] Sala Seminari (DEI)

  • Perspective ambiguity (M. Marcon)
  • Non rigid structure from motion and Hierarchical Shape Priors (M. Marcon)
  • Implicit formulation (M. Marcon)

08/06/2009 [09:30-13:30] Sala Seminari (DEI)

  • Bayesian filtering (M. Matteucci)
  • SLAM Filter implementations (M. Matteucci)

12/06/2009 [09:30-13:30] Sala Seminari (DEI)

  • Monocular SLAM (M. Matteucci)

15/06/2009 [09:30-13:30] Sala Seminari (DEI)

  • Stereo SLAM (D. Migliore)
  • Omnidirectional SLAM (D. Migliore)

19/06/2009 [09:30-13:30] Sala Seminari (DEI)

  • TBD (TBD)

22/06/2009 [09:30-13:30] Sala Seminari (DEI)

  • 3D without 3D: plenoptic methods, lumigraph, albedo, non Lambertian surfaces (M. Marcon)

Course Material & Referencies

The following is some suggested material to follow the course lectures.

Slides and lecture notes

Suggested Bibliography