View source for Robotics Teaching Assistant lectures (Como)

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:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

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

==Third lecture==

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]