Scribd Logo
Upload

Welcome to Scribd!

  • 41 views

    Fundamentals of Computer Vision

    Uploaded by

    eng_refaat
    This document provides an overview and schedule for the CS294-137 course on fundamentals of computer vision. It outlines the topics to be covered in each of the 16 weeks including introduction to VR programming, optics and display technologies, computer vision algorithms, and a final project presentation. It also provides recommended reading materials and gives examples of computer vision techniques like camera calibration, structure from motion, feature matching with SIFT, and an anatomy of augmented reality devices.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Fundamentals of Computer Vision

    Uploaded by

    eng_refaat
    41 views35 pages
    This document provides an overview and schedule for the CS294-137 course on fundamentals of computer vision. It outlines the topics to be covered in each of the 16 weeks including introduction to VR programming, optics and display technologies, computer vision algorithms, and a final project presentation. It also provides recommended reading materials and gives examples of computer vision techniques like camera calibration, structure from motion, feature matching with SIFT, and an anatomy of augmented reality devices.

    Original Title

    fundamentals of computer vision

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This document provides an overview and schedule for the CS294-137 course on fundamentals of computer vision. It outlines the topics to be covered in each of the 16 weeks including introduction to VR programming, optics and display technologies, computer vision algorithms, and a final project presentation. It also provides recommended reading materials and gives examples of computer vision techniques like camera calibration, structure from motion, feature matching with SIFT, and an anatomy of augmented reality devices.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    41 views35 pages

    Fundamentals of Computer Vision

    Uploaded by

    eng_refaat
    This document provides an overview and schedule for the CS294-137 course on fundamentals of computer vision. It outlines the topics to be covered in each of the 16 weeks including introduction to VR programming, optics and display technologies, computer vision algorithms, and a final project presentation. It also provides recommended reading materials and gives examples of computer vision techniques like camera calibration, structure from motion, feature matching with SIFT, and an anatomy of augmented reality devices.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 35

    CS294-137


    Lecture 6: Fundamentals of
    Computer Vision


    Allen Y. Yang

    Fall, 2017
    Course Schedule Update
    Week 1 (8-23): Introduction and Capstone Options
    Week 2 (8-30): Human Perception in the Context of VR
    Week 3 (9-6): Basic Unity3D/VR Programming Workshop
    Week 4 (9-13): Course project proposal presentation
    Week 5 (9-20): Optics and Display technologies
    Week 6 (9-27): Vision Accommodation and Vergence
    Week 7 (10-4): Computer Vision related topics
    Week 8 (10-11): Computer Graphics related topics
    ****************
    Week 9: (10-18) Telemedicine (Ruzena Bajcsy/Gregorij Korillo)
    Week 10 (10-25): Gaming (Jack McCauley)
    Week 11 (11-1): VR Film Making (Richard Hernandez)
    Week 12 (11-8): AR/VR in Arts & Design (Ted Selker)
    Week 13 (11-15): Computational Imaging for VR (Ren Ng)
    Week 14 (11-22): No class
    Week 15 (11-29): Final project presentation
    Week 16 (12-6): Final project presentation
    Recommended Reading Material
    •  Perception: Sensation and Perception
    by Bruce Goldstein

    •  Virtual Reality: Virtual Reality


    By Steven LaValle (and checkout his YouTube lectures)

    •  Computer Graphics: Fundamentals of CG


    by Peter Shirley

    •  Computer Vision: An Invitation to 3-D Vision


    by Yi Ma, et al.

    •  Display: Mobile Displays
    by Achin Bhowmik, et al.

    •  AR/VR Market Research: Virtual & Augmented Reality,


    understanding the race for the next computing platform
    by Goldman Sachs
    Anatomy of an AR Device: HoloLens

    Including perception & display, end-to-end latency


    not exceeding 16ms (60 fps)
    What can Computer Vision do?
    Fundamental Problems of Computer
    Vision

    Camera Obscura, circa 400BC Holmes stereoscope, 1861

    Image Matching using Robust Features


    Part I: Basic Linear Algebra
    Rigid Body Motion
    Change of Coordinate Systems
    Special Orthogonal Group
    Be Aware of Left-Handed or Right-
    Handed Coordinate Systems
    Homogeneous Coordinates & 

    Special Euclidean Group SE(3)

    Concatenation:

    Inverse:
    Estimation of (R, T)

    Translation Only:

    Rotation Only:

    Don’t forget to check right-handedness!


    Part II: Geometry of Pinhole Camera

    * OpenCV Online Documentation


    Pinhole Camera Parameters

    Intrinsic parameters Extrinsic parameters


    Camera Calibration using OpenCV
    Camera Distortion Rectification
    Part III: Structure from Motion

    SfM Problem

    Assume multiple 2D images of 3D points and their correspondence are
    known, estimate their 3D locations and the transformations (R, T).
    Definition: hat operator

    Quick Facts:
    Epipolar Constraint
    Properties of Epipolar Constraint

    Conditions on the epipoles

    Conditions on the epipolar lines (by co-images)


    Estimation of Essential Matrix
    Enforcing Essential Matrix
    8-Point or 7-Point Algorithm
    What if correspondence has error:

    Random Sample Consensus (RANSAC)
    Decomposition of E Matrix
    Decomposition of E Matrix
    About Depth Cameras

    Time of Flight

    Blur:
    Structured Light

    Light Field Camera


    z1
    z0
    s A
    s
    Depth from Defocus
    b
    Part IV: Feature Matching
    Features in images are not just 0-dim abstract points, their local appearance can
    be used to improve matching across images
    SIFT (Scale-Invariant Feature Transform)

    Step 1: Feature Detector
    What is a corner point?
    SIFT (Scale-Invariant Feature Transform)

    Step 1: Feature Detector
    David Lowe’s Solution:

    Difference of Gaussian

    Typically, detection of SIFT combines both corner detection and DoG detection

    * David Lowe, Distinctive image features from scale-invariant keypoints, IJCV 2004
    SIFT (Scale-Invariant Feature Transform)

    Step 2: Feature Descriptor
    SIFT (Scale-Invariant Feature Transform)

    Step 3: Histogram Matching
    SIFT (Scale-Invariant Feature Transform)

    Step 3: Histogram Matching
    OpenCV Sample Code

    You might also like