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00:00:00
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Lecture 17: Epipolar Geometry & Stereo Basics |
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00:00:16
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Announcements: Exam Dates |
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00:03:42
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Announcements: Seminar in the summer semester |
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00:07:07
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Course Outline |
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00:08:25
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Topics of This Lecture |
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00:09:09
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Geometric vision |
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00:09:44
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Visual Cues |
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00:14:05
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Our Goal: Recovery of 3D Structure |
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00:15:52
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To Illustrate This Point... |
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00:17:43
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Stereo Vision |
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00:18:51
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What Is Stereo Vision? |
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00:24:34
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Application of Stereo: Robotic Exploration |
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00:27:34
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Topics of This Lecture |
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00:28:02
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Depth with Stereo: Basic Idea |
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00:29:46
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Camera Calibration |
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00:33:00
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Geometry for a Simple Stereo System |
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00:47:57
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Depth From Disparity |
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00:48:53
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General Case With Calibrated Cameras |
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00:49:58
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Stereo Correspondence Constraints |
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00:54:06
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Epipolar Geometry |
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00:57:02
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Epipolar Geometry: Terms |
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00:58:17
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Epipolar Constraint |
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00:59:38
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Example |
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01:01:42
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Example: Converging Cameras |
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01:02:34
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Example: Motion Parallel With Image Plane |
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01:02:52
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Example: Forward Motion |
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01:04:11
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Let's Formalize This! |
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01:04:53
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Stereo Geometry With Calibrated Cameras |
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01:05:56
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Rotation Matrix |
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01:07:32
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3D Rigid Transformation |
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01:08:07
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Stereo Geometry With Calibrated Cameras |
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01:08:26
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Excursion: Cross Product |
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01:09:23
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From Geometry to Algebra |
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01:12:40
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Matrix Form of Cross Product |
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01:14:58
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From Geometry to Algebra |
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01:15:04
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Essential Matrix |
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01:17:42
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Essential Matrix and Epipolar Lines |
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01:21:29
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Essential Matrix: Properties |
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01:21:39
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Essential Matrix Example: Parallel Cameras |
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01:25:03
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More General Case |
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01:25:13
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Stereo Image Rectification |
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01:26:25
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Stereo Image Rectification: Example |
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01:27:31
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Topics of This Lecture |
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01:28:24
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References and Further Reading |