An Invitation to 3D Vision: A Tutorial for Everyone
An Invitation to 3D Vision is an introductory tutorial on 3D computer vision (a.k.a. geometric vision or visual geometry or multiple-view geometry). It aims to make beginners understand basic theories on 3D vision and implement its applications using OpenCV.
In addition to tutorial slides, example codes are provided in the purpose of education. They include simple but interesting and practical applications. The example codes are written as short as possible (mostly less than 100 lines) to be clear and easy to understand.
What does its name come from?
- The main title, An Invitation to 3D Vision, came from a legendary book by Yi Ma, Stefano Soatto, Jana Kosecka, and Shankar S. Sastry. We wish that our tutorial will be the first gentle invitation card for beginners to 3D vision and its applications.
- The subtitle, for everyone, was inspired from Prof. Kim's online lecture (in Korean). Our tutorial is also intended not only for students and researchers in academia, but also for hobbyists and developers in industries. We tried to describe important and typical problems and their solutions in OpenCV. We hope readers understand it easily without serious mathematical background.
Lecture Slides
Example Codes
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Section 1. Introduction [slides]
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Section 2. Single-view Geometry [slides]
- Getting Started with 2D
- Pinhole Camera Model
- Geometric Distortion Models
- Camera Calibration
- Absolute Camera Pose Estimation (a.k.a. perspective-n-point; PnP)
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Section 3. Two-view Geometry [slides]
- Planar Homography
- Epipolar Geometry
- Relative Camera Pose Estimation
- Triangulation
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Section 4. Solving Problems [slides]
- Solving Linear Equations in 3D Vision
- Solving Nonlinear Equations in 3D Vision
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Section 5. Finding Correspondence [slides]
- Feature Points and Descriptors
- Feature Matching and Tracking
- Outlier Rejection
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Section 6. Multiple-view Geometry [slides]
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Section 7. Visual SLAM and Odometry [slides]
License
Authors
Acknowledgement
The authors thank the following contributors and projects.