CS6320 Spring 2012

3D Computer Vision

Computing properties of our 3-D world from passive and active sensors

Guido Gerig (home)

Goal and Objectives:

• To introduce the fundamental problems of 3D computer vision.
• To introduce the main concepts and techniques used to solve those.
• To enable participants to implement solutions for reasonably complex problems.
• To enable participants to understand basic methodology that is discussed in the computer vision literature.

General Information:

Lecture:        M,W 1.25 - 2.45 WEB L126
Instructor:    Guido Gerig (gerig at sci.utah.edu)
                        Office WEB 4893, office hours M,W 3 - 5pm.
TA:                 Kathlea Quebbeman (quebbeka at cs.utah.edu)
                       Office MEB 3419, office hours M,W 3 - 5pm. Please use email for setting up other appointments.

Material:
Primary Textbook:            Book by Rick Szeliski
Secondary Textbook:      Computer vision: a modern approach, by Forsyth and Ponce. Prentice Hall, 2002.
The class will make use of MATLAB. Students can also make use of C++ for projects.

Syllabus (pdf document)

College of Engineering CADE lab infrastructure and hand-in system for assignments

University of Utah and Computer Science Honor Code

Students are expected to work on their own, as instructed by the Professor. Students may discuss projects with other individuals either in the class or outside the class, but they may not receive code or results electronically from any source that is not documented in their report. Students must write their own code, conduct their own experiments, write their own reports, and take their own tests. Any use of sources (for projects or tests) that are not specifically given to the student by the Professor or TA, must be discussed with the Professor or TA or documented in the report. Any student who is found to be violating this policy will be given a failing grade for the course and will be reported to the authorities as described in the University's Student Code.

• SoC Academic Misconduct  Policy
• Academic Misconduct  Flowchart
• SoC Form to be signed
  

Accommodations Policy
The University of Utah seeks to provide equal access to its programs, services and activities for people with disabilities. If you will need accommodations in the class, reasonable prior notice needs to be given to the Center for Disability Services, 162 Olpin Union Building, 581-5020 (V/TDD). CDS will work with you and the instructor to make arrangements for accommodations. All written information in this course can be made available in alternative format with prior notification to the Center for Disability Services.

Homework
Homework assignments are due at 11:59pm on the given due date. Written assignments should be in
pdf format, while coding assignments should additionally be source files. Coding can be done in MATLAB (using
only the base package, no toolkits), C++. The report should clearly identify code developed by the student and pieces of code obtained by external sources.

Grading

Weighted contribution of projects and exams to final grade:

• Projects (3), theoretical and practical: 50%
• Final Project (incl. design, presentation, demo, project report):: 40%
• Participation: 10%. (Attendance to lectures is required to be eligible for office hours by the instructor and the TA. Attendance and regular active participation is required to get the participation grade).
• Late policy on projects: 10 point deduction per day, projects no more accepted after 3 days.
• Final project is required to get a pass grade.

NEWS AND ANNOUNCEMENTS: Click here

Schedule:

Date	Topic	Slides	Readings	Assignments	Additional Material
9-Jan-12	Introduction	Introduction (pdf)	Ch1 Introduction (pdf)
13-Jan-12	Image Formation	Image Formation I (pdf)	Ch2 Image Formation (pdf)	Read Ch2 Textbook
16-Jan-12	MLK Day Holiday
19-Jan-12	Image Formation ctd.	Image Formation II (pdf)	Ch2 Image Formation (pdf)	Read Ch2 Textbook
23-Jan-12	Image Formation ctd.	Image Formation II (pdf) Lenses (pdf)	Ch2 Image Formation (pdf)	Read 2.1.2 - 2.1.4
25-Jan-12	Image Formation ctd.: Image Transformations, Lenses, Camera Calibration	Image Formation III (pdf) Lenses (pdf) Camera Calibration (pdf) Radial Distortion Correction	Ch2 Image Transformations, Camera Calibration Camera Calibration slides (intrinsic, extrinsic parameters) S.M. Abdullah
30-Jan-12	Camera Calibration, Radial Distortion Correction	see above	Ch2	Assignment 1 (pdf)  (out 1/30/12, due 02/13/12 midnight)
1-Feb-12	Feature Based Alignment, Camera Calibration	Slides Feature Based Alignment (pdf)	Ch6: to read 6.1 to 6.1.4.	Ch6: to read 6.1 to 6.1.4.	Camera-Calibration Forsyth-Ponce (pdf)
6-Feb-12	Structure from Motion, RANSAC, Feature Detection (summary)	Slides Feature Based Alignment (pdf) Slides Edge and Blob Detection (pdf) Slides Harris Corner Detection (pdf)	Ch6,  short image processing summary on Chapters 3&4	Ch6: to read 6.1 and 6.2	Feature Detection: See Matlab Imaging introduction materials (bottom of this page) SIFT Features, D. Lowes (pdf)
8-Feb-12	Structure from Motion II		Ch7
13-Feb-12	Corner Detection and SIFT Features, Epipolar Geometry, Stereo	Slides Stereo I (pdf)	Ch7/Ch11	Assignment 1 due midnight (handin)	Assignment 1 solutions (theory, practical*) (*example Abishek Kumar 2010)
15-Feb-12	Epipolar Geometry, Stereo	see slides Stereo I above	Ch7/Ch11	Assignment 2 out (pdf) out: Feb. 15, due Feb. 29
20-Feb-12	President's Day Holiday
22-Feb-12	Stereo Correspondence: Multiview stereo, Essential and Fundamental Matrices	Slides Stereo I (pdf) Slides Small Motion (pdf)	Ch11
27-Feb-12	Stereo, Epipolar Geometry, Image Rectification, Triangulation	Slides Stereo I (pdf) Slides Image Rectification (pdf)	Ch7/Ch11		Image Rectification (Trucco & Verri Textbook) (pdf)
29-Feb-12	Stereo: Image Rectification, Correspondence, Dense Depth Maps	Slides Image Rectification (pdf) Slides Correspondence and Dense Depth Estimation (pdf)	Ch8.1, Ch 11.3	Assignment 2 due midnight (handin)	Image Rectification (Trucco & Verri Textbook) (pdf) Assignment 2 solutions (theory)
5-Mar-12	Introduction: Reflectance Maps, Shape from Shading	Slides Correspondence and Dense Depth Estimation (pdf)	Ch12.1.1
7-Mar-12	Discussion Assignment 1, Discussion for Project Plans, Photometric Stereo	Possible projects: Examples (pdf) Photomteric Stereo and Shape from Shading (pdf)
12-Mar-12	Spring Break
14-Mar-12	Spring Break
19-Mar-12	Photometric Stereo I	Photomteric Stereo and Shape from Shading: Slides G. Gerig (pdf)	Ch 12.1 and additional materials (see right column)	Assignment 3 out (pdf) out: Mar. 19, due April 2nd	Additional materials/slides Photometric Stereo and Shape fronm Shading (Ohad Ben-Shahar BGU) Slides Wolff JHU (pdf) Link to materials Wolff JHU (link)
21-Mar-12	Photometric Stereo II		CH 12.1 and additional materials (see right column) Shape from Shading Forsyth&Ponce
26-Mar-12	Structured Lighting I	Structured Lighting I Slides G. Gerig (pdf) Powerpoint slides with animations (ppt)	Structured Lighting: Some pages from Computer Vision  Book (pdf)		Build your own 3D scanner: SIGGRAPH 2009 course: D. Lanman/ G. Taubin Brown University: Notes pdf,   Slides Stanford, Levoy et al: Real-time 3D Model Acquisition (link) 3D photography on your desk: Bouget &Perona ICCV 1998: (pdf)
28-Mar-12	Structured Lighting II	Structured Lighting II: Slides G. Gerig (pdf) Powerpoint slides with animations (ppt)
2-Apr-12	Shape from Silhouettes I	Shape from Silhouettes I: Slides G. Gerig (pdf)	Ch 11.6.2 Szelisky Course Book	Assignment 3 due midnight (handin)
4-Apr-12	Shape from Silhouettes II /	Shape from Silhouettes II: Slides G. Gerig (pdf)	Ch 8.2 - 8.4  Szelisky Course Book Optical Flow Computer Vision Book (pdf)
9-Apr-12	Optical Flow I	Optical Flow (OF) I: Slides G. Gerig (pdf)	Ch 8.2 - 8.4 Szelisky Course Text Book Optical Flow:  Computer Vision Book (pdf) Original Paper Horn & Schunck 1981 (pdf)		CAP5415 - Computer Vision ,     Slides: Motion&Optical Flow
11-Apr-12	Optical Flow II, Structure from Motion	Optical Flow (OF) Ib: Slides G. Gerig (pdf) Optical Flow  II, Structure from Mption: Slides G. Gerig (pdf)	Ch 8.1 - 8.4 Szelisky Course Text Book Handwritten Notes Optical flow, structure from motion (pdf) Chapter 8 Structure from Motion  Trucco and Verri, "Computer Vision", (pdf)
16-Apr-12	Optical Flow II, Structure from Motion	Materials see above	Ch 8.1 - 8.4, other materials see above
18-Apr-12	Range/Depth Image Processing	Range/Depth Data Processing: Slides G. Gerig (pdf)	Ch 12.2/12/3 Textbook
23-Apr-12	Final Project Presentations I: 1:25-2:45	Schedule	Attendence of ALL is mandatory (see news). Talks need to be uploaded to the handin and will be made available to the class.
25-Apr-12	Final Project Presentations II: 1:25-2:45	Schedule	Attendence of ALL is mandatory (see news). Talks need to be uploaded to the handin and will be made available to the class.
27-Apr-12	Final Project Presentations III : 1-3pm (official final exam  schedule)	Schedule	Attendence of ALL is mandatory (see news). Talks need to be uploaded to the handin and will be made available to the class.

Resources

• Course Materials BoWang and Nishith Tirpankar (Bo pdf, Nishith pdf)
• Matlab-Code and test images for Bo/Nishith's introduction: (1.2 Mb compressed tar file)
  
• Course Materials TA (pdf) and test images: image1, image2, image3
• Course Materials 2nd course by TA (8.3Mb zipped archive)
  

Code: