Difference between revisions of "Robotics Teaching Assistant lectures (Como)"
| Line 1: | Line 1: | ||
Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como) | Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como) | ||
| − | == | + | ==1st lecture== |
* Homogeneous coordinates for points in 2D and 3D | * Homogeneous coordinates for points in 2D and 3D | ||
* Rotation and translation in 2D and 3D homogeneous coordinate | * Rotation and translation in 2D and 3D homogeneous coordinate | ||
| Line 14: | Line 14: | ||
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]] | Handout [[File:Robotics-ceriani-ese-01-handout.pdf]] | ||
| − | == | + | ==2nd lecture== |
* Projective 2D transformations (Homographies) of points, lines and conics | * Projective 2D transformations (Homographies) of points, lines and conics | ||
* Homography estimation and image rectification | * Homography estimation and image rectification | ||
| Line 38: | Line 38: | ||
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]] | Handout [[File:Robotics-ceriani-ese-02-handout.pdf]] | ||
| − | == | + | ==3th lecture== |
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]] | Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]] | ||
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]] | Handout [[File:Robotics-ceriani-ese-03-handout.pdf]] | ||
| + | |||
| + | ==4th lecture== | ||
| + | |||
| + | Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]] | ||
| + | |||
| + | Handout [[File:Robotics-ceriani-ese-04-handout.pdf]] | ||
| + | |||
| + | ==5th lecture== | ||
| + | |||
| + | Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]] | ||
| + | |||
| + | Handout [[File:Robotics-ceriani-ese-05-handout.pdf]] | ||
Revision as of 08:46, 8 June 2012
Materials used in the Tutorial part of Robotics course (academic year 2011-2012, Como)
1st 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
2nd 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:
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
3th lecture
Slides with animations File:Robotics-ceriani-ese-03-anim.pdf
Handout File:Robotics-ceriani-ese-03-handout.pdf
4th lecture
Slides with animations File:Robotics-ceriani-ese-04-anim.pdf
Handout File:Robotics-ceriani-ese-04-handout.pdf
5th lecture
Slides with animations File:Robotics-ceriani-ese-05-anim.pdf
