Lectures are from 11am to 1pm on Tuesdays in Owheo G34.
The following table gives a rough lecture plan, but any information in the future is subject to change.
| No. |
Date |
Lecturer |
Lecture title |
| 1 |
February 25th |
Steven Mills |
Introduction / Overview |
| |
|
| 2 |
March 3rd |
Steven Mills |
Cameras and Calibration |
| |
- Preparation: A Flexible New Technique for Camera Calibration, Zhengyou Zhang, IEEE Pattern Analysis and Machine Intelligence, 22(11), 1330-1334, 2000
- Calibration lecture slides
- Multiple View Geometry in Computer Vision, Richard Hartley and Andrew Zisserman, 2004 - a very good textbook, Chapter 4 covers homography estimation
- A Brief Description of the Levenberg-Marquardt Algorithm Implemented by levmar, Manolis Lourakis, 2005
- Accurate Detection and Localization of Checkerboard Corners for Calibration, Alexander Duda and Udo Frese, British Machine Vision Conf. (BMVC) 2018
- Error Distribution of Estimated Checkerboard Corner Location, Matthew Edwards, Michael Hayes, and Richard Green, IVCNZ 2018
- Superaccurate Camera Calibration via Inverse Rendering, Morten Hannemose, Jakob Wilm, and Jeppe Revall Frisvad, Modelling Aspects in Optical Metrologgy, 2019
|
| 3 |
March 10th |
Steven Mills |
Features and Tracking |
| |
- Notes on Features, Tracking, and Matching
- Good Features to Track, Jianbo Shi and Carlo Tomasi, IEEE Conf. Computer Vision and Pattern Recognition (CVPR), 1994
- Distinctive Image Features from Scale Invariant Feature Points, David G. Lowe, IJCV 2004.
- Better than SIFT?, Nabeel Khan, Brendan McCane, and Steven Mills, Machine Vision and Applications 26(6), 819-836, 2015.
|
| 4 |
March 17th |
Steven Mills |
Pose and Structure Estimation |
| |
- NOTES 1: Absolute pose estimation
- NOTES 2: RANSAC
- NOTES 3: Relative pose and structure
- Multiple View Geometry in Computer Vision, Richard Hartley and Andrew Zisserman, 2004 - an excellent book on this material, highly recommended
- Complete Solution Classification for the Perspective-Three-Point Problem, Xiao-Shan Gao, Xiao-Rong Hou, Jianliang Tang, and Hang-Fei Cheng, IEEE T. PAMI, 2003
- Lambda Twist: An Accurate, Fast, Robust Perspective Three Point (P3P) Solver, Mikael Persson and Klas Nordberg, ECCV, 2018
- Random Sample Consensus: a paradigm for model fitting with applications to image analysis and automated cartography Martin A. Fischler and Robert C. Bolles, Comm ACM, 1981
- RANSAC Excel Example
- In Defence of the Eight-Point Algorithm, Richard Hatley, PAMI, 1997
- An Efficient Solution to the Five-Point Relative Pose ProblemDavid Nister, CVPR, 2003
- Four- and Seven-Point Relative Camera Pose from Oriented FeaturesSteven Mills, 3DV, 2018
|
| 5 |
March 31st |
Steven Mills |
Simultaneous Localisation and Mapping |
| |
- Lecture notes on the Particle Filter
- Lecture notes on the Kalman filter
- Lecture notes on SLAM
- The Particle Filter explained without equations [YouTube video]
- A New Extension of the Kalman Filter to Nonlinear SystemsS. J. Julier and J. K. Uhlmann, 1997 (UKF)
- CONDENSATION - Conditional Density Propagation for Visual Tracking M. Isard and A. Blake, IJVC 1998
- Tracking in a Hough Space with the Extended Kalman Filter S. Mills, T. Pridmore and M. Hills, BMVC, 2003
- Condensation Tracking through a Hough Space A. French, S. Mills, and T. Pridmore, ICPR, 2004
- FastSLAM: A Factored Solution to the Similtaneous Localization and Mapping Problem. Michael Montemerlo, Sebastian Thrun, Daphne Kller, and Ben Wegbreit, AAAI, 2002
- Parallel Tracking and Mapping for Small AR Workspaces, Georg Klein and David Murray, ISMAR 2017
- ORB-SLAM: A Versatile and Accurate Monocular SLAM System Raul Mur-Atal, J. M. M. Montiel, and Juan D. Tardos, IEEE Trans. Robotics, 31(5), 2015
- LSD-SLAM: Large-Scale Direct Monocular SLAM, Jakob Engel, Thomas Schops, and Daniel Cremers, ECCV 2014
- SLAM++: Simultaneous Localisation and Mapping at the Level of Objects, Renato F. Salas-Moreno, Richard A. Newcombe, Hauke Strasdat, Paul H. J. Kelly, and Andrew J. Davison, CVPR 2013
- KinectFusion: Real-Time Dense Surface Mapping and Tracking, Richard A Newcombe, Shahram Izadi, Otmar illiges, David Molyneaux, David Kim, Andrew J Davidson, Pushemeet Kohi, Jamie Shotton, Steve Hodges, and Andrew Fitzgibbon, ISMAR 2011
|
| 6 |
April 7th |
Stefanie Zollman |
Augmented Reality |
| |
- Lecture notes on Augmented Reality
- A Survey of Augmented Reality, R. T. Azuma, Presence: Teleoperators and Virtual Environments 6(4), 355-385, 1997
- Revisiting Trends in Augmented Reality Research: A Review of the 2nd Decade of ISMAR (2008–2017), K. Kim, M. Billinghurst, et al., IEEE Trans. Visualization and Computer Graphics 24(11), 2947-2962, 2018
|
| |
April 14th |
MID-SEMESTER BREAK - NO LECTURE
|
| 8 |
April 21st |
Stefanie Zollmann |
Rendering for AR |
| 9 |
April 28th |
Stefanie Zollmann |
AR Displays and Visual Coherrence |
| 10 |
May 5th |
Steven Mills |
AR Tracking |
| 11 |
May 12th |
Steven Mills |
Topic to be determined |
| 12 |
May 19th |
Steven Mills |
Topic to be determined |
| 13 |
May 26th |
Steven Mills |
Review and the Exam |
