3D Structure From Visual Motion

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Course Aim & Organization

This is a description page for the PhD course on 3D Structure from Visual Motion: Novel Techniques in Computer Vision and Autonomous Robots/Vehicles. It is meant to present modern techniques to simultaneously estimate the unknown motion of a camera while reconstructing the 3D structure of the observed world to be applied un scientific fields such as: 3D reconstruction, autonomous robot navigation, aerial/field surveying, unmanned vehicle maneuvering, etc.


Although formally entitled to just one of the teachers the course is held by (in order of appearance)

Course Schedule

This is the schedule foreseen for the course.

  • 15/02/2010 14:30-18:30 in Sala Seminari
    • Course introduction (M. Matteucci)
    • Correspondence analysis: tracking and ransac (D. Migliore)
    • Optical flow (D. Migliore)

Projection Model + Fundamental and Essential Matrix (Vincenzo) Aula PT1 17/02/2010 14:30-18:30

Motion extraction + 3D reconstruction (Vincenzo) Sala Seminari 22/02/2010 14:30-18:30

Visual odometry (Marcon) Sala Seminari 24/02/2010 14:30-18:30

Uncalibrated visual odometry + stereo SLAM + omnidirectional odometry (Vincenzo e Davide) Sala Seminari 26/02/2010 14:30-18:30

Bayesian Filtering and SLAM (Matteo) Aula PT1 01/03/2010 14:30-18:30

MonoSLAM, PTAM and FrameSLAM (Matteo, Domenico ?) Aula PT1 03/03/2010 14:30-18:30

3D without 3D (Marcon) Sala Seminari 05/03/2010 14:30-18:30

  • Sala Seminari 15/02/2010 14:30-18:30

    • Projection model and projection matrix (V. Caglioti)

25/05/2009 [14:30-17:30] Sala Conferenze (DEI)

  • Correspondence analysis: tracking and ransac (D. Migliore)

29/05/2009 [14:30-18:30] Sala Conferenze (DEI)

  • Fundamental and Essential matrices (V. Caglioti)
  • Motion extraction and 3D reconstruction (V. Caglioti)
  • Visual odometry (V. Caglioti)

03/06/2009 [09:30-13:30] Sala Seminari (DEI)

  • Correspondences tracking and analysis(M. Marcon)
  • Combined estiamation of 3D structure and camera egomotion (M.Marcon)

05/06/2009 [14:30-18:30] Sala Seminari (DEI)

  • Perspective ambiguity (M. Marcon)
  • Non rigid structure from motion and Hierarchical Shape Priors (M. Marcon)
  • Implicit formulation (M. Marcon)

08/06/2009 [09:30-13:30] Sala Seminari (DEI)

  • Bayesian filtering (M. Matteucci)
  • SLAM Filter implementations (M. Matteucci)

12/06/2009 [09:30-13:30] Sala Seminari (DEI)

  • Monocular SLAM (M. Matteucci)

15/06/2009 [09:30-13:30] Aula PT1 (DEI)

  • Stereo SLAM (D. Migliore)
  • Omnidirectional SLAM (D. Migliore)
  • Omnidirectional Visual Odometry (V. Caglioti)

19/06/2009 [09:30-13:30] Sala Seminari (DEI)

  • Parallel Tracking and Mapping (M. Matteucci)
  • Course project discussion ...

22/06/2009 [09:30-13:30] Sala Seminari (DEI)

  • 3D without 3D: plenoptic methods, lumigraph, albedo, non Lambertian surfaces (M. Marcon)

Course Material & Referencies

The following is some suggested material to follow the course lectures.

Slides and lecture notes

Suggested Bibliography