A Structure and Motion Toolkit in Matlab


This toolkit, contains many Matlab programs and a combination
tutorial and user guide.

Click here to download the toolkit and unpack by:

        unzip torrsam.zip

to get contents. 

For user interested in the tutorials, you want the PS file:

        torrsam.ps
        

Tutorial Contents

A Structure and Motion Toolkit in Matlab (whole PS file) Harris corner detector (PS file. See pg 7 / Chapter 2) Subpixel corner detection (PS file. See pg 8 / Section 2.1) Point correlation matching (PS file. See pg 10 / Chapter 3) Birchfield and Tomasi point correlation matching (PS file. See pg 12 / Section 3.2) Homogeneous and Projective Coordinates (PS file. See pg 18 / Section 4.3) Intrinsic and extrinsic camera parameterization (PS file. See pg 19 / section 4.3) Fundamental Matrix (PS file. See pg 21 / Section 4.4) Estimation of Fundamental Matrix (PS file. See pg 14/38 / Chapter 4/5) RANSAC (PS file. See pg 40 / Section 5.2) MAPSAC: Maximum likelihood estimation in the presence of outliers (PS file. See pg 44 / Section 5.3) Self-Calibration (PS file. See pg 49 / Chapter 7) Recovery of projective structure (PS file. See pg 49 / Chapter 7) Derivation of Fundamental Matrix (PS file. See pg 67 / Appendix A) Singular Value Decomposition and Least Square Fitting (PS file. See pg 69 / Appendix B)