Robot Vision
Introduction
Some slides were adapted/taken from various sources, including 3D Computer Vision of
Prof. Hee, NUS, Air Lab Summer School, The Robotic Institute, CMU, Computer Vision of
Prof. Mubarak Shah, UCF, Computer Vision of Prof. William Hoff, Colorado School of
Mines and many more. We thankfully acknowledge them. Students are requested to use this
material for their study only and NOT to distribute it.
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Syllabus
• 3D Computer Vision:
– Pinhole Camera projection model,
– Epi-polar geometry, Essential and Fundamental matrix,
– RANSAC Algorithm,
– Solve camera pose from essential matrix,
– Feature detector and descriptor,
– Optical Flow: Lucas-Kanade Algorithm,
– Camera Pose and depth estimation.
• Visual SLAM
– Feature based: ORB SLAM, Dense direct method: DTAM, Semi dense
direct method: LSD SLAM
• Learning based visual odometry
– Supervised Method: Pose-Net, Deep-VO, Self-supervised Method: SfM
Learner, Hybrid method: DSVO
• Object Tracking:
– Introduction, Correlation Filters and MOSSE, Median Flow, Tracking-
Learning-Detection, Case Study: Tracking moving objects from a UAV
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Books
• Text Books:
– D. A. Forsyth and J. Ponce, Computer Vision, A Modern Approach,
Pearson Education, 2003.
– Richard Hartley and Andrew Zisserman, Multiple View Geometry in
Computer Vision, Cambridge University Press, 2011.
• Reference Books:
– Milan Sonka, Vaclav Hlavac and Roger Boyle, Image Processing,
Analysis and Machine Vision, Cengage, Third Edition (2013)
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Module I:
3D Computer Vision:
• Pinhole Camera projection model
• Epi-polar geometry, Essential and Fundamental
matrix
• RANSAC Algorithm
• Solve camera pose from essential matrix
• Feature detector and descriptor
• Optical Flow: Lucas-Kanade Algorithm
• Camera Pose and depth estimation
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What is camera?
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Pinhole camera projection model
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Camera Models
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Camera Models
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Projective camera with finite center
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Affine camera with center at infinity
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The basic pinhole model
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The basic pinhole model
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The basic pinhole model
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Central projection using the homogeneous
coordinates
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Principal Point Offset
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Camera Calibration Matrix
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Camera Rotation and Translation
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Camera Rotation and Translation
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Euler Angles to Rotation Matrix
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Properties of Rotation Matrix
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Left and right Hand Coordinate System
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The Basic Pinhole Model
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The Basic Pinhole Model
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Summary: Pinhole Camera Projection Model
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Pinhole Camera Projection Model
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Pinhole Camera Projection Model
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Pinhole Camera Projection Model
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Pinhole Camera Projection Model
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