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 held by Matteo Matteucci, Vincenzo Caglioti, Marco Marcon, and Davide Migliore. 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.

Course Schedule

21/05/2009 [14:30-18:30] Sala Seminari (DEI) - Course introduction (M. Matteucci) - Projection model and projection matrix (V. Caglioti) - Fundamental and Essential matrices (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) - 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] Sala Seminari (DEI) - Stereo SLAM (D. Migliore) - Omnidirectional SLAM (D. Migliore) 19/06/2009 [09:30-13:30] Sala Seminari (DEI) - TBD (TBD) 22/06/2009 [09:30-13:30] Sala Seminari (DEI) - 3D without 3D: plenoptic methods, lumigraph, albedo, non Lambertian surfaces (M. Marcon)

Course Material

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

Slides and lecture notes

Thrun, Burgard, Fox. Probabilistic Robotics Hartley, Zisserman. Multiple View Geometry in Computer Vision Bibliography of selected scientific papers on the topics