Multiple View Geometry In Computer Vision
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Multimodal 3D tracking and event detection via the particle filter
 , Australian National University, Canberra,, University of Oxford
 Publisher: Cambridge University Press
 Online publication date: January 2011
 Print publication year: 2004

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Multiple View Geometry in Computer Vision
 2nd edition
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A basic problem in computer vision is to understand the structure of a real world scene given several images of it. Techniques for solving this problem are taken from projective geometry and photogrammetry. Here, the authors cover the geometric principles and their algebraic representation in terms of camera projection matrices, the fundamental matrix and the trifocal tensor. The theory and methods of computation of these entities are discussed with real examples, as is their use in the reconstruction of scenes from multiple images. The new edition features an extended introduction covering the key ideas in the book and significant new results which have appeared since the first edition. Comprehensive background material is provided, so readers familiar with linear algebra and basic numerical methods can understand the projective geometry and estimation algorithms presented, and implement the algorithms directly from the book.
 Thoroughly updated, with over 50 algorithms and lots more extra material
 Explains the required mathematical background
 Can be used for graduate courses or as an overview of field
An Index To The Worked Solutions
After searching in vain for solutions to the exercises in this book, I decidedto start documenting my solutions with the hope that it might provideencouragement to others like me on the path of selfstudy.
On the note of selfstudy, I would like to provide some feedback to those whohave just begun or are contemplating using this book to learn computer vision.Firstly, if you dont know this already , multiple view geometry isjust one, albeit major, facet of computer vision, not the whole of it. Youmight want to first explore computer vision breadthwise before you decide tocommit to this one particular area.
Secondly, I found this book to be more of a compendium of research papers onmultiple view geometry rather than an introductory textbook for beginners inthe field. So if youre starting from scratch like me, I strongly recommendbecoming conversant with projective geometry, probability & statistics, linearalgebra, calculus, optimization and some image processing, before attemptingthe material, to get the most out of it.
Finally, if you put in the work, you will find the material to be rewarding.Through this book, Ive been able to learn things that I didnt even know werepossible. It has literally broadened my horizons .
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Chapter : Projective Geometry And Transformations Of 2d
If you are finding it hard to grasp the ideas in this chapter, I suggest goingthrough an introductory text on projective geometry. One book I highlyrecommend is Introduction to Projective Geometry by C.R. Wylie Jr. I alsorecommend that you play with the interative 3D graphs that are part of thesolution set for the book on this blog. Just hit the Viewin GeoGebra link and modify the lines and conics to get a feel for perspectiveprojection. The point $C$ is the center of projection, the image plane is $z =0$ and the object plane is $y = 0$.
Here are quicklinks to the exercise solutions in this chapter.
Chapter 5 Multiple View Geometry
This chapter will show you how to handle multiple views and how to use the geometric relationships between them to recover camera positions and 3D structure. With images taken at different view points, it is possible to compute 3D scene points as well as camera locations from feature matches. We introduce the necessary tools and show a complete 3D reconstruction example. The last part of the chapter shows how to compute dense depth reconstructions from stereo images.
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