Geometric Framework for Vision I:

Single View and Two-View Geometry Andrew Zisserman

Robotics Research Group
University of Oxford
Email: az@robots.ox.ac.uk

• Overview
• Imaging Geometry
• 3x4 Projection Matrix
• Summary and Properties of the Projection Matrix
• Camera Calibration
• Plane projective transformations
• Four points define a planar projective transformation
• Example 1: Removing Perspective Distortion
• Rotation about the Optical Centre
• Example 2: Synthetic Rotations
• Computing Plane Projective Transformations
• Summary of Plane Projective Transformations
• Two View Geometry
• Two View Notation
• Images of Planes
• Plane Projective Transfer
• Rotation about optical centre
• Epipolar Geometry
• Epipolar geometry examples
• Homogeneous Notation Interlude
• The Essential Matrix
• The Fundamental Matrix
• Example 2 - General Motion
• Computing F: II Least Squares Solutions
• Mismatches
• How to Establish Correspondences
• Application --- Binary Space Partition (BSP)
• Related Reading
• About this document ...