TeachingSs12CV

Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

3D Computer Vision Summer Term 2012

Administrative Info

Lecture by Prof. Nassir Navab
Exercises by S. Hinterstoisser and S.Ilic and V. Belagiannis and R. Stauder and V. Haltakov and D.Tan

Type: Lecture Module IN2057
Programs: Informatics (Bachelor, Master)
Informatics (Diploma, Wahlpflichtfach, Theoretische Informatik)
Information Systems (Bachelor), Computational Science and Engineering (Master)
Master Sports Engineering
SWS: 2+2
ECTS: 5 Credits
Course Language: English

Time, Location & Requirements

Lecture: Tuesday 10:00-11:30 MI 03.13.010

Exercises: Thursday 13:00-14:30 MI 03.13.010

Requirements:

  • The classes and exam are in English
  • Exams are to be written in English only
  • For the intermediate exam, only one handwritten Din A4 (front+back) page with notes is allowed; calculators are allowed (however, computers are not allowed!)
  • For the final exam, only one handwritten Din A4 page (front+back) with notes is allowed; calculators are allowed (however, computers are not allowed!)
  • The final exam contains 100 points, you need to have 50 points to pass it
  • Up to 40 bonus points can be earned from the homework and the intermediate exam

Site Content

Announcements

The exam dates are out: please have a look at the bottom of this site. Please note: there won't be any repeat exams for CV1 this semester. If you fail/do not attend the exams the next chance to repeat it is in 2 semesters.

Registration

You need to register for the class and the exam on Tum-Online. Only registered students can take part in the exam!

Homeworks

We will announce special dates on which students have to show their homework either on their own computer or on the computers of the CAMP-Lab. In these sessions, we will check the latest 3-5 homeworks.

Overview

Making a computer see was something that leading experts in the field of Artificial Intelligence thought to be at the level of difficulty of a summer student's project back in the sixties. Forty years later the task is still unsolved and seems formidable. A whole field, called Computer Vision, has emerged as a discipline in itself with strong connections to mathematics and computer science and looser connections to physics, the psychology of perception and the neuro sciences.

Over the past decade there has been a rapid development in the understanding and modeling of the geometry of multiple views in computer vision. The theory and practice have now reached a level of maturity where excellent results can be achieved for problems that were unsolved a decade ago, and often thought unsolvable. These tasks and algorithms include problems like:
Given two/three/multiple images, and no further information, compute/estimate:

  • matches between the images
  • the 3D position of the points that generate these matches
  • the cameras that generate the images

(Adapted form Hartley & Zisserman's "Multiple View Geometry in Computer Vision")

The fundamental mathematics and a profound comprehension of the basics of projective geometry as well as one-view geometry are the core of the lecture 3D Computer Vision.

Lecture Content

  1. Intro, motivation & Overview
  2. 2D Transformations
  3. Projective 2D Geometry
  4. 3D Transformations
  5. Projective 3D Geometry
  6. Parameter Estimation
  7. Camera Models
  8. Camera Calibration
  9. Conclusion & Discussion

Lecture Schedule

Date Conducted by Topic Material/Literature
Tue. 17.04.12 Prof. Nassir Navab Introduction and Motivation Introduction (without Videos)
Thu. 19.04.12 Prof. Nassir Navab Basic Transformations & 2D Projective Geometry Lecture 1
Thu. 26.04.12 Prof. Nassir Navab Transformations & 2D Projective Geometry Lecture 2
Tue. 01.05.12 Prof. Nassir Navab no lecture due to holiday day  
Thu. 10.05.12 Prof. Nassir Navab Parameter Estimation: Linear Estimation, DLT, Cost Functions
Tue. 22.05.12 Prof. Nassir Navab Parameter Estimation: Sampson Error, Statistical Cost Functions  
Tue. 29.05.12 Prof. Nassir Navab no lecture due to holiday day  
Tue. 05.06.12 Dr. Slobodan Ilic Non-linear Parameter Estimation
Thu. 07.06.12 Prof. Nassir Navab No lecture due to holiday day  
Tue. 12.06.12 Prof. Nassir Navab Algorithm Evaluation & Error Analysis
Thu. 21.06.12 Prof. Nassir Navab Projection and Camera Models
Tue. 03.07.12 Prof. Nassir Navab Computation of the Projection Matrix
Tue. 10.07.12 Prof. Nassir Navab Conics in Projective Geometry
Tue. 17.07.12 Prof. Nassir Navab Camera Models II / Modeling and Correction of Distortion

Exercise Schedule

Date Conducted by Topic Exercises Solutions Homework due
Tue 24.04.12 V. Belagiannis Matlab tutorial - see anouncements  Announcements
 MATLAB Workshop
 MATLAB Primer
Load images demo
no solution
no homework
Thu 03.05.12 S. Hinterstoisser Homogeneous Coordinates; Hierarchy of Transformations (2D);
Duality of Points and Lines (also under Transformations)
 Exercise 1  Solution Exercise 1 31.5.2012
Tue 08.05.12 S. Hinterstoisser 3D Rigid Transformations; Rotation representations; Rodrigues Angles; Representing Projective Geometry in R3  Exercise 2  Solution Exercise 2 31.5.2012
Tue 15.05.12 S. Hinterstoisser, V. Belagiannis, R. Stauder, V. Haltakov, D. Tan no exercise due to student council     tba.
Thu 17.05.12 S. Hinterstoisser, V. Belagiannis, R. Stauder, V. Haltakov, D. Tan no exercise due to holidays     tba.
Thu 24.05.12 R. Stauder Cross-Ratio of Points and Lines, DLT, Mosaicing
tba.
Thu 31.05.12 D. Tan Error Models, Homography tba.
Thu 07.06.12 S. Hinterstoisser, V. Belagiannis, R. Stauder, V. Haltakov, D. Tan no lectures due to holidays      
Thu 14.06.12 S. Ilic Maximum Likelihood Estimation, Non-linear estimation methods tba.
Tue 19.06.12 V. Belagiannis Error Propagation tba.
Tue 28.06.12 V. Haltakov Projection Matrices, Camera Calibration tba.
Thu 05.07.12 V. Haltakov Planar Camera Calibration, Radial Distortion tba.
Thu 12.07.12 V. Haltakov Zhang Calibration tba.
Thu 19.07.12 S. Hinterstoisser, V. Belagiannis, R. Stauder, V. Haltakov, D. Tan tba.     tba.

Exams

  • Midterm Exam: 19.6.2012, 17:15-18:45, MW 2050.
  • Final Exam: 24.7.2012, 10:00-11:30, 102 - Interims Hoersaal 2 .

Readings

  • Primary Reading
    • Multiple View Geometry in Computer Vision by Richard Hartley & Andrew Zisserman

  • General Introduction to 3D Computer Vision
    • Three-Dimensional Computer Vision by Olivier Faugeras
    • Computer Vision: A Modern Approach by David A. Forsyth & Jean Ponce
    • Introductory Techniques for 3-D Computer Vision by Emanuele Trucco & Alessandro Verri

  • More Specific Readings
    • The Geometry of Multiple Images: The Laws That Govern the Formation of Multiple Images of a Scene and Some of Their Applications by Olivier Faugeras, Quang-Tuan Luong, Theodore H. Papadopoullos; MIT Press; 2001

TeachingForm
Title: 3D Computer Vision I
Professor: Prof. Dr. Nassir Navab
Tutors: Stefan Hinterstoisser, Vasilis Belagiannis, Ralf Stauder, Vladimir Haltakov,
Type: Lecture
Information: 2+2 SWS, 5 ECTS, Theoretische Informatik, Wahlpflichtfach
Term: 2012SoSe
Abstract: The class covers projective and one-view geometry for Computer Vision Applications.


Edit | Attach | Refresh | Diffs | More | Revision r1.19 - 21 May 2012 - 13:49 - DavidTan

Lehrstuhl für Computer Aided Medical Procedures & Augmented Reality    rss.gif