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)