00:00:00
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Lecture 19: Uncalibrated Reconstruction
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00:00:30
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Course Outline
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00:01:22
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Recap: A General Point
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00:02:16
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Recap: Camera Parameters
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00:05:32
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Recap: Calibrating a Camera
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00:06:11
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Recap: Camera Calibration (DLT Algorithm)
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00:07:29
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Recap: Triangulation - Linear Algebraic Approach
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00:10:00
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Topics of This Lecture
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00:11:04
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Revisiting Epipolar Geometry
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00:12:49
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Epipolar Geometry: Calibrated Case
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00:20:58
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Epipolar Geometry: Uncalibrated Case
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00:27:32
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Estimating the Fundamental Matrix
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00:28:23
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The Eight-Point Algorithm
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00:32:15
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Excursion: Properties of SVD
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00:35:11
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The Eight-Point Algorithm
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00:39:27
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Problem with the Eight-Point Algorithm
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00:41:31
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The Normalized Eight-Point Algorithm
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00:45:01
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The Eight-Point Algorithm
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00:48:49
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Comparison of Estimation Algorithms
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00:52:47
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3D Reconstruction with Weak Calibration
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00:54:34
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Stereo Pipeline with Weak Calibration
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00:56:59
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Putative Matches based on Correlation Search
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00:57:59
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RANSAC for Robust Estimation of F
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00:59:29
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Pruned Matches
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00:59:51
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Resulting Epipolar Geometry
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01:00:39
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Epipolar Transfer
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01:02:17
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Extension: Epipolar Transfer
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01:04:54
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Topics of This Lecture
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01:06:05
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Active Stereo
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01:06:30
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Microsoft Kinect - How Does It Work?
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01:08:55
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Recall: Optical Triangulation
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01:10:16
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Active Stereo with Structured Light
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01:11:22
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What the Kinect Sees...
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01:13:16
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3D Reconstruction with the Kinect
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01:17:40
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Active Stereo with Structured Light
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01:18:22
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Laser Scanning
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01:19:37
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Laser Scanned Models
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01:21:28
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Multi-Stripe Triangulation
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01:23:04
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Time-Coded Light Patterns
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01:23:53
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Better codes...
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01:24:23
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Phase-Shift Structured Light Scanning
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01:25:46
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A High-Speed 3D Scanner
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01:26:49
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Problems with Dynamically Moving Objects
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01:26:53
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Effect of Motion Compensation
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01:27:23
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Application: Online Model Reconstruction
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01:28:01
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Poor Man's Scanner
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01:29:15
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Slightly More Elaborate (But Still Cheap)
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01:30:31
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References and Further Reading
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