Multiple View Geometry
in Computer Vision
Multiple View Geometry
a
a c
c
b
f(a,b,c)=0 b
(a,b) A reconstruct geometry of scene
(a,b,c) (a,b,c) calibrate cameras
(a,b) c Transfer an image point from one camera to the other
Course objectives
• To understand the geometric
relations between multiple views of
scenes.
• To understand the general principles
of parameter estimation.
• To be able to compute scene and
camera properties from real world
images using state-of-the-art
algorithms.
Applications
• MatchMoving In cinematography, match moving
is a visual-effects technique that allows the insertion of
computer graphics into live-action footage with correct position,
scale, orientation, and motion relative to the photographed
objects in the shot.
Compute camera motion from video
(to register real and virtual object motion )
Applications
• 3D modeling
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
Administration
• Office hours: Tuesdays 11 to 12
• Grades:
• 10% class participation
• 20% Matlab homeworks (pending on
finding a grader)
• 70% project
• Proposals due 4 weeks into the semester
• Mid term progress report 8 weeks into the
semester
• Final report and presentation: end of the
semester
Relevant textbooks
• Computer Vision: A modern approach by
Forsyth and Ponce
• Multiple view geometry in computer vision by
Hartley and Zisserman
• An invitation to 3-D Vision; from images to
Geometric models by Ma, Soatto, Kosecka and
Sastry
• The geometry of multiple images by Faugeras
and Luong
• Introductory techniques for 3D computer vision
by Trucco and Verri
• Marc Polleyfeys tutorial on 3D reconstruction
• http://www.cs.unc.edu/~marc/tutorial.pdf
