Projective Geometry - Imaging through lenses and pin-hole – Basic Photometry – Basic model of imaging geometry – Ideal Camera – Camera with intrinsic parameters – Approximate camera models – Camera Calibration – Methods and Procedure
Objective: To make students to understand the principle of various types of Cameras and their calibration and image formation
Topics to be covered
Projective Geometry - Imaging through lenses and pin-hole
Computational Stereopsis – Geometry, parameters –correlation based methods, feature-based methods – Epipolar Geometry, eight point algorithm – Reconstruction by triangulation, scale factor and up to a projective transformation – Visual Motion – Motion field of rigid objects – Optical Flow – Estimation of motion field – 3D structure and motion from sparse and dense motion fields – Motion based segmentation.
To understand the working principle of computational stereo and motion
UNIT V ROBOT VISION 12 Syllabus: Visual Tracking – Kalman Filtering and Sequential Monte Carlo – Visual SLAM, solutions, EKFSLAM, FastSLAM – 3D SLAM – Advanced Visual Servoing, hybrid visual servo, partitioned visual servo.