Multi-View Geometry, Depth and Motion
Robust estimation with RANSAC, then two-view geometry through the fundamental and essential matrices and relative pose, stereo rectification and triangulation with depth uncertainty, incremental structure from motion with PnP and bundle adjustment, and finally optical flow and motion analysis in video.
Lectures in this Module(6)
RANSAC and Robust Verification
Minimal samples, residual thresholds, and adaptive iteration counts for fitting models among outliers.
Epipolar Geometry
The fundamental matrix, epipoles and epipolar lines, the 8-point algorithm, and rank-2 enforcement.
Essential Matrix and Pose
From F to E in calibrated coordinates, its decomposition into four motions, and the cheirality test.
Stereo and Triangulation
Rectification, disparity, the Z = fB/d relation, linear triangulation, and depth uncertainty.
Structure from Motion
The incremental SfM pipeline: two-view initialization, PnP, triangulation, and bundle adjustment, with the metric ambiguity.
Optical Flow and Motion
The optical flow constraint equation, the aperture problem, and Lucas-Kanade, Horn-Schunck, and pyramids.