Difference between revisions of "Robotics Teaching Assistant lectures (Como)"

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Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]
 
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]
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==Second lecture==
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* Projective 2D transformations (Homographies) of points, lines and conics
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* Homography estimation and image rectification
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* Hierarchy of transformations (isometries, similarities, affine, homographies)
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* Vanishing points
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* Parametric lines and Cross Ratio (with exercize)
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* Affine reconstruction
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* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
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* Brief recall to art and usage of vanishing points
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* Some videos and images examples
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* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
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* Pin hole model, Intrinsic camera matrix
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* Extra exercises with cross ratio
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Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]], videos (extract in the same folder of the slides)
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Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Revision as of 08:20, 8 June 2012

Materials used in the Tutorial part of Robotics course (academic year 2011-2012, Como)

First lecture

  • Homogeneous coordinates for points in 2D and 3D
  • Rotation and translation in 2D and 3D homogeneous coordinate
  • Transformation inversion and composition.
  • Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
  • The line at the infinity (2D)
  • Brief introduction to conics
  • 2D projective transformation introduction

Slides with animations File:Robotics-ceriani-ese-01-anim.pdf

Handout File:Robotics-ceriani-ese-01-handout.pdf

Second lecture

  • Projective 2D transformations (Homographies) of points, lines and conics
  • Homography estimation and image rectification
  • Hierarchy of transformations (isometries, similarities, affine, homographies)
  • Vanishing points
  • Parametric lines and Cross Ratio (with exercize)
  • Affine reconstruction
  • 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
  • Brief recall to art and usage of vanishing points
  • Some videos and images examples
  • Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
  • Pin hole model, Intrinsic camera matrix
  • Extra exercises with cross ratio

Slides with animations File:Robotics-ceriani-ese-02-anim.pdf, videos (extract in the same folder of the slides)

Handout File:Robotics-ceriani-ese-02-handout.pdf