Computing 3-view GeometryClass 18.ppt

Computing 3-view GeometryClass 18 Multiple View Geometry Comp 290-089 Marc Pollefeys Content Background: Projective geometry (2D, 3D), Parameter estimation, Algorithm evaluation. Single View: Camera model, Calibration, Single View Geometry. Two Views: Epipolar Geometry, 3D reconstruction, Computing F, Computing structure, Plane and homographies. Three Views: Trifocal Tensor, Computing T. More Views: N-Linearities, Multiple view reconstruction, Bundle adjustment, auto-calibration, Dynamic SfM, Cheirality, Duality Multiple View Geometry course schedule(subject to change) Definition affine tensor Collection of numbers, related to coordinate choice, indexed by one or more indices Valency = (n+m) Indices can be any value between 1 and the dimension of space (d(n+m) coefficients) Conventions More on tensors Transformations Some special tensors Kronecker delta Levi-Cevita epsilon Next class: Multiple View Geometry Project Demos Cheirality Apr. 22, 24 Papers Dynamic SfM Apr. 15, 17 Papers Auto-Calibration Apr. 8, 10 Papers Bundle adjustment Apr. 1, 3 MultipleView Reconstruction Multiple View Geometry Mar. 25, 27 Three View Reconstruction Trifocal Tensor Mar. 18, 20 Planes Homographies Rect. Structure Comp. Mar. 4, 6 Fund. Matrix Comp. Fund. Matrix Comp. Feb. 25, 27 3D reconstruction Epipolar Geometry Feb. 18, 20 Single View Geometry Camera Calibration Feb. 11, 13 Camera Models Algorithm Evaluation Feb. 4, 6 Parameter Estimation Parameter Estimation Jan. 28, 30 (no class) Projective 3D Geometry Jan. 21, 23 Projective 2D Geometry (no class) Jan. 14, 16 Projective 2D Geometry Intro motivation Jan. 7, 9 Three-view geometry The trifocal tensor Incidence relation provides constraint Line-line-line relation (up to scale) Point-line-line relation Point-line-point relation Point-point-point relation Compute F and P from T matrix notation is impractical Use tensor notation instead Contraction: (once above, once below) Index rule: (covariant) (contravariant)