# Difference between revisions of "Robotics Teaching Assistant lectures (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
• 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

## 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

## 3th lecture

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

## 4th lecture

Slides with animations File:Robotics-ceriani-ese-04-anim.pdf

## 5th lecture

Slides with animations File:Robotics-ceriani-ese-05-anim.pdf