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