CS6320 3D Computer Vision, Spring 2013

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

Syllabus, 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, please use email for setting up appointments.
TA:                 Anshul Joshi (joshi at cs.utah.edu)
                       Office MEB 3115, office hours M,W 3 - 5pm.. Please use email for setting up other appointments.

Material:
Primary Textbook, to be purchased by students:  Computer vision: a modern approach, by Forsyth and Ponce. Prentice Hall, 2002.
(Scondary Textbook:  not to be purchased by students  Book by Rick Szeliski)
The class will make use of MATLAB. Students can also make use of C++ for projects.

Prerequisites: 
It is a prerequisite that students have knowledge in fundamental image processing procedures and techniques. The graduate course CS6640 Image Processing or an equivalent graduate level image analysis or graphics/imaging course are highly recommended. Students with dierent background and curriculum related to image processing and/or pattern recognition background need to discuss suitability and options with the teacher.

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 (4-5), theoretical and practical: 60%
• Final Project (incl. design, presentation, demo, project report):: 30%
• 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 percent deduction per day, projects no more accepted after 3 days.
• Final project is required to get a pass grade.

Date	Topic	Slides	Readings (files)	Additional Materials	Assignments
7-Jan-13	Introduction	Introduction slides (pdf)	Textbook Forsyth&Ponce: Book Contents (pdf)
9-Jan-13	Image Formation	Image Formation I: Cameras, Lenses, Sensors (slidesI, slidesII, slides-lenses III)	Old book: 1.1 New book: 1.1 Textbook Forsyth&Ponce: Image Formation: Ch1 Cameras (pdf) Geometric Camera Models CH 2 (pdf)
14-Jan-13	Image Formation ctd.	Image Formation II (pdf)	Old book: 2.1, 2.2 New book: 1.2 (Geometic Camera Models) Part I:  Image Formation
16-Jan-13	Image Formation ctd.	Image Formation II (pdf): Updated Slides (consistent Notation): slides Lens Distortion: slides Lenses: slides-lenses III	Geometric Camera Models: Old Book: Read 2.1, 2.2, 3.1-3.3 New Book: 1.2, 1.3 Part I:  Image Formation -Intrinsic/Extrinsic Parameters -Cameras with Lenses		Assignment 1 is out: Deadline Monday February 4: see also slides S.M. Abdullah (pdf) Lenses, depth of field (ppt) Depth of field animated slides (pdf)
21-Jan-13	MLK Day Holiday
23-Jan-13	Image Formation ctd.: Image Transformations, Lenses, Camera Calibration	Camera Calibration (pdf) Radial Distortion Corr: (pdf)	Ch2 Image Transformations, Camera Calibration Camera Calibration slides (intrinsic, extrinsic parameters) S.M. Abdullah
28-Jan-13	Cameras with Lenses Introduction Stereo	Lenses: slides-lenses III (ppt with animations) Slides intro Stereo (pdf)	New book: 1.13 Old book: 1.2
30-Jan-13	Stereo, Epipolar Geometry,Stereo  Essential and Fundamental Matrices.	Slides Multiple View Geometry I (pdf)	New book: Ch7 Stereopsis Old Book:  Ch10 and 11
4-Feb-13	Repetition: Geometry of multiple Views, Correspondence: Multiview stereo, Triangulation.	Slides MVG II (pdf) Slides Stereo (pdf) Slides Image Rectification (pdf)	New book: Ch7 Stereopsis Old Book:  Ch10 and 11	Image Rectification (Trucco & Verri Textbook) (pdf)
6-Feb-13	Multiview stereo, Rectification, Triangulation.	Slides MVG II (pdf) Slides Image Rectification (pdf)	New book: Ch7 Stereopsis Old Book:  Ch10 and 11		Assignment 1 due midnight (canvas handin)
11-Feb-13	Stereo, Triangulation, Correspondences	Slides Stereo (pdf) Slides Correpondences/Correlation (pdf)	New book: Ch 7.4/7.5/7.6 Old book: Ch 11.2/11.3/11.4		Assignment 2 out
13-Feb-13	Correspondences	Slides Correspondence and Dense Depth Estimation
18-Feb-13	President's Day Holiday
20-Feb-13	Stereo: Triangulation / 3D Reconstruction	Stereo: Triangulation (pdf) Epiipolar Geometry and Small motions (pdf)	Old book: 11.1 and 10.1.4 (motions) New book: Ch7.2 and Problem 7.2
25-Feb-13	Introduction: Reflectance Maps, Shape from Shading	Photometric Stereo and Shape from Shading SfS: Slides G. Gerig Slides introduction (pdf) , SfS (pdf)	New Book: Chapter 2 Old Book:: Chapters 4 and 5		Assignment 2 due midnight (canvas handin)
27-Feb-13	Photometric Stereo (ctd) Lecture given by Shireen Elhabian (Postdoc SCI Institute)	Updated slides SFS (new methods for reconstruction of surfaces from surface normals): (pdf)		Additional materials/slides Photometric Stereo and Shape fronm Shading (Ohad Ben-Shahar BGU) Slides Wolff JHU (pdf) Link to materials Wolff JHU (link)
4-Mar-13	Shape from Shading: Surface Reconstruction	See second part updated slides SFS (new methods for reconstruction of surfaces from surface normals): (pdf)	Hands on Shape from Shading, Technical Report, May 2008 by Shireen Y. Elhabian (pdf)	SfS via curve evolution (Kimmel, Siddiqi, Bruckstein): (pdf)	Assignment 3 out
6-Mar-13	Optical Flow I	Optical Flow (OF) I: Slides G. Gerig (pdf)	Optical Flow:  Computer Vision Book (pdf) Original Paper Horn & Schunck 1981 (pdf)		Final Project Ideas:
12-Mar-13	Spring Break
14-Mar-13	Spring Break
18-Mar-13	Optical Flow II, Structure from Motion	Optical Flow I: Slides G. Gerig, modified by Shireen Elhabian (pdf) Optical Flow Ib: Slides G. Gerig (pdf) Optical Flow II:  Slides G. Gerig (pdf)	Optical Flow:  Computer Vision Book T&V (pdf) Original Paper Horn & Schunck 1981 (pdf) Optical Flow Computer Vision Book T&V Ch8 (pdf)	CAP5415 - Computer Vision ,     Slides: Motion&Optical Flow
20-Mar-13	Optical Flow III	see above
25-Mar-13	Structured Lighting I	Structured Lighting I: Slides G. Gerig (pdf) Powerpoint slides with animations (ppt)	Structured Lighting: Some pages from Computer Vision  Book R. Klette (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) *	Assignment 3 due midnight
27-Mar-13	Structured Lighting II	Structured Lighting II: Slides G. Gerig (pdf)			Assignment 4 out
1-Apr-13	Structured Lighting II ctd.	Structured Lighting II  cts.  (pdf) Shape from Silhouettes I: Slides G. Gerig (pdf)
3-Apr-13	Shape from Silhouettes I	Shape from Silhouettes I: Slides G. Gerig (pdf)	Marching Intersections (M. Tarini (pdf)) Exact Polyhedral Methods (W. Matusik pdf ) Image-based Visual Hulls IBVH (W. Matusik, pdf)
8-Apr-13	Shape from Silhouettes II	Shape from Silhouettes II (Visual Hulls): Slides G. Gerig (pdf) Shape from Silhouettes III (Forbes): Slides G. Gerig (pdf)	K. Forbes: Consistency Constraints (pdf) K. Forbes: Uncalibrated, two planar mirrors (pdf)
10-Apr-13	Range/Depth Image Processing	Range/Depth Data Processing: Slides G. Gerig (pdf)	Textbook F&P: New book: Ch 14, pp 422ff Old book: Ch 21, pp. 467ff		Assignment 4 due midnight (canvas handin)
15-Apr-13	Tracking, Kalman Filtering	Tracking, Kalman Filtering Slides G. Gerig (pdf)	Textbook F&P: New book: Ch 11, pp. 326ff Old book: Ch 17
17-Apr-13	Tracking, Kalman Filtering II		Additional Slides R. Klette (pdf)
22-Apr-13	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.
24-Apr-13	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.
28-Apr-13	Final Project Report due				Final Project Report/code/materials due Sunday 04/28/13 midnight

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: