# 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]] | ||

+ | |||

+ | ==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]] |

## 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)