Multiview geometry 1

Multiview geometry 1

Local Features

  • 이미지에 중요한 부분
  • Image representation
  • Object appearance modeling
  • Finding matches between multiple views

Model Fitting and RANSAC

  • Finding vanishing points
  • Image stitching
  • 3D object recognition
  • Fitting Technique: Least Square
  • RANSAC
  • Fitting Technique: Hough Transform

Geometric Transformations

  • Understanding camera models
  • 2D transformations
    • Translations
    • Euclidean transformation
    • Similarity transformation
    • Affine transformation
    • Projective transformation
  • 3D Geometric Primitives
    • points, lines, planes
    • 3D Transformations
    • 3D to 2D Projections
  • Camera Models
    • Camera
      • 사람의 눈에 대응되는 컴퓨터의 눈
    • Geometric Camera Models
      • Pinhole Model
        • Aperture shrinks to zero
        • Inverted image is observed in image plane

Camera Calibration

  • Geometric camera calibra:on
  • Camera Matrix Estimation
    • size and structure of the pattern are known
  • Estimation of Intrinsic and Extrinsic Parameters

Two-View Geometry

  • 2장의 이미지에서 대응 되는 기하학적 관계
  • Homography
    • collinearity is preserved
    • Isotropic scaling transform
  • Image Panorama Using Estimation

Epipolar Geometry

  • epipolar
    • 두개의 이미지에서 대응되는 점들의 직선
  • converging image planes
  • parallel image planes
  • forward moving camera
  • Two-View Relationship in Epipolar Geometry
    • essential matrix
    • Fundamental Matrix
      • 8-point algorithm

Stereo Matching

  • 두개의 센서로 부터 인지한 정보
  • Parallel images
  • Image Rectification
    • 같은 선상에 이미지를 정렬
    • Epipolar lines을 직선이 되도록 배치
  • Basic Stereo Matching
    • epipolar line
    • depth vs disparity
    • 비워있으면 더 진하게 나옴
  • Correspondence Search
  • Correspondence Search by Correlation
  • 반복적인 패턴
  • small diparity error
  • window size effect

Wide-Baseline Matching

  • Large baseline
  • KeyNet
    • detection 에 집중함
    • Multi-Scale Index Proposal (M-SIP) Loss.
  • Self-Supervised Equivariant Learning for Oriented Keypoint Detection
    • Rotation-Equivariant Feature
    • Window-based keypoint loss
    • Dense orientation alignment loss

참조