05. Structure from Motion

Camera calibration

Epipolar geometry

  • Definition
  • Estimating the epipolar geometry
  • Essential matrix, normalized 8-point algorithm
  • Fundamental matrix

Triangulation

  • Definition
  • Reprojection error minimization

Factorization

  • Orthographic factorization
  • Perspective factorization

Bundle adjustment

  • Initialization and optimization
  • COLMAP
  • Results and application
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