Geometry, Projection and Camera Calibration
Builds the geometry core: the 2D/3D transformation hierarchy with composition and inversion, homogeneous and projective geometry with incidence and points at infinity, the pinhole camera and its K/R/t projection with scale ambiguity, camera calibration by DLT and Zhang's method, and homography estimation with Hartley normalization. The midterm examination follows this module.
Lectures in this Module(5)
2D and 3D Transformations
The rigid, similarity, affine, and projective hierarchy, with composition and inversion.
Homogeneous and Projective Geometry
Points, lines, and planes in homogeneous coordinates, with incidence, duality, and points at infinity.
Pinhole Camera and Projection
World, camera, and image frames tied together by K, R, and t, with perspective's scale ambiguity.
Camera Calibration
Recovering K, R, t, and lens distortion by least squares, with reprojection error as the verdict.
Homography and Image Alignment
Estimating a planar projective map with DLT and SVD, stabilized by Hartley normalization.