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

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(Second lecture)
(Second lecture)
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* [[File:Hutme_camera.mpg.zip‎]]
 
* [[File:Hutme_camera.mpg.zip‎]]
 
* [[File:Trinity.sb.mpg.zip‎]]
 
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download them into a folder named "videos" in the same folder of the slide file
+
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
 
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular
  
 
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]
 
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Revision as of 08:42, 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:

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