PhD Program in Information Technologies. Visual Perception. Description : Obtention of 3D Information. Study of the problem of triangulation, camera calibration and stereovision. Passive and active vision. Epipolar geometry and bidimensional transformations. Coordinator : Dr. Rafael Garcia
Obtention of 3D Information. Study of the problem of triangulation, camera calibration and stereovision. Passive and active vision. Epipolar geometry and bidimensional transformations.
Coordinator: Dr. Rafael Garcia
Professors: Dr. Rafael Garcia “Rafa”, Dr. Joaquim Salvi “Quim”, Josep Forest “Pep”.
Term: March – April
Day & Time: Friday from 11 to 13 h.
Place: Seminari EIA
1. Introduction to visual perception (2 hours)
· Human vision. Image interpretation: brain vs. computer. Phases of image processing. Quim
· CCD sensors. Type of cameras: matricial, linear, 1 CCD, 3CDD, Analog, Digital. Rafa
2. Camera modelling and calibration (2 hours) Quim
Camera modelling, camera calibration: intrinsic and extrinsic
parameters, stereo vision, epipolar geometry, fundamental matrix. Example: robot localization and 3D mapping.
3. Motion estimation. (4 hours) Rafa
Trinocular stereovision. Deriving homographies from the projection matrix. Robust estimators. Aplications: motion estimation through mosaicking. Derivation of extrinsic parameters.
4. The correspondence problem. (2 hours) Rafa
Detection of interest points. Finding correspondences. Similarity measurements. Aplying epipolar geometry.
5. 3D reconstruction using laser range finders. (2 hours) Pep
Laser beam calibration. Subpixel slit detection. Scanning. 3D
6. Structured light (2 hours) Quim
Pattern projection. Pattern coding. Time multiplexing. Spatial
neighborhood. Direct codification. Designing and Implementing an optimal pattern.
Practical issues: Modelization and calibration of a computer vision system and reconstruction of 3D objects.
Practical Issues presentation
Second week of June
More information at: http://www.vision.ca/eye/lobby.html
Get 3D Cloud
N 3D point
24 aligned 3D scans
ready for merging
set of six 3D scans acquired from different
viewpoints and their alignment (center)
24 meshes merged into a