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Machine Vision

Lecture Notes

LEC #

TOPICS

LECTURE NOTES

1

General Introduction

Estimating Image Motion Field

Pinhole Camera Model

(PDF)

2

General Introduction (cont.)

Lambertian Surfaces

Image Motion in 2D

(PDF)

3

Image Motion in 2D (cont.)

Constant Brightness Equation

 

4

Constant Brightness Equation (cont.)

Binocular Stereo

Reflectance map: Image Formation, Surface Reflectance, Surface Orientation

(PDF)

5

Photometric Stereo

Brightness Distribution Function (BRDF)

(PDF)

6

Shape from Shading

(PDF)

7

Shape from Shading (cont.)

Shape from Gradient

(PDF)

8

Shape from Gradient (cont.)

(PDF)

9

Binary Image Processing

Methods and Applications

(PDF)

10

Binary Image Processing (cont.)

(PDF)

11

Binary Image Processing (cont.)

(PDF)

12

Binary Image Processing (cont.)

(PDF)

13

Binary Image Processing (cont.)

(PDF)

14

The Euler Equations and their Applications

(PDF)

15

Optical Flow

(PDF)

16

Optical Flow (cont.)

Motion Vision

(PDF)

17

Optical Flow (cont.)

Motion Field

(PDF)

18

Optical Flow (cont.)

Direct Motion Vision

(PDF)

19

Optical Flow (cont.)

(PDF)

20

Extended Gaussian Images

Geometry

(PDF)

21

Extended Gaussian Images (cont.)

Tessellation

Platonic solids

(PDF)

22

Extended Gaussian Images (cont.)

Quaternions

Operations on EGIs

(PDF)

23

Photogrammetry

Absolute Orientation

Exterior Orientation

Interior Orientation

(PDF)

24

Photogrammetry (cont.)

Relative Orientation

 

 

Readings

amera Calibration

Some Notes on Unit Quaternions and Rotation (PDF)

Tsai's Camera Calibration Method Revisited (PDF)

Recovering Baseline and Orientation from Essential Matrix (PDF)

Analog VLSI for Machine Vision

Horn, Berthold K. P. "Parallel Analog Networks for Machine Vision." In Artificial Intelligence at MIT: Expanding Frontiers. Edited by Patrick H. Winston and Sarah A. Shellard. Vol. 2. Cambridge, MA: MIT Press, 1990, pp. 437–471.

Time to Collision Warning Chip (PDF)

Others

Projective Geometry Considered Harmful (PDF)

New Notation for Serial Kinematic Chains (PDF)

Exams

There are two take-home exams for the semester. Relevant dates are listed in the calendar.

EXAMS

SOLUTIONS

Quiz 1 (PDF)

(PDF)

Quiz 2 (PDF)

(PDF)