Optimal Triangulation for Tuning Keypoint Co-ordinates

Given a set of correct keypoint matches and a fundamental matrix, to optimize the coordinates of these key points such that they satisfy the epipolar constraint. A point (x,y) on the left image (pose: [I|0]) and (x',y') on the right image (pose: [R|t]). These points are undistorted and in normalized image coordinates. Having known the pose … Continue reading Optimal Triangulation for Tuning Keypoint Co-ordinates

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Image Keypoint Descriptors and Matching

[GitHub] Extracting keypoints from images, usually, corner points etc is usually the first step for geometric methods in computer vision. A typical workflow is: keypoints are extracted from images (SIFT, SURF, ORB etc.). At these keypoints descriptors are extracted (SURF, ORB etc). Usually a 32D vector at each keypoint. The nearest neighbor search is performed to … Continue reading Image Keypoint Descriptors and Matching

HowTo – Pose Graph Bundle Adjustment

SLAM (Simultaneous Localization and Mapping) is one of the important practical areas in computer vision / robotics / image based modelling community. A SLAM system typically consists of a) odometry estimator (relative pose estimator), b) Bundle adjustment module, c) sensor fusion module (for visual-inertial system), d) mapping module. While there are several excellent resources, refer … Continue reading HowTo – Pose Graph Bundle Adjustment

Vision Controlled Quadcopter Flight

Just completed (8th Dec, 2015) the Aerial Robotics course in HKUST (ELEC6910P) by Prof. SHEN Shaojie (my PhD supervisor). Most of the course credit were on the completion of the projects. Course TAs were Su Kunyue and Yang Zhengfei. My project partners were Sun Lin and Sun Ting The projects eventually connected together to make a vision … Continue reading Vision Controlled Quadcopter Flight

List of Packages for Computer Vision Developers (Ubuntu 14.04)

I am some-what intermediate developer mainly focusing on Computer Vision related development. I recently had to upgrade to Ubuntu 14.04 (Trusty) and turned out I rely on quite a lot of libraries and tools which are not available by default. Here is my list of packages : Feel free to mentions packages/libraries that you as … Continue reading List of Packages for Computer Vision Developers (Ubuntu 14.04)

3D Reconstruction with Single View

Project Summary We create a 3D model of flat objects from single view. The method used is based on a paper by Criminisi [1]. Acknowledgement This project is a part of the Computer Vision course (COMP 5421) during spring 2014. The project partners were Manohar Kuse (myself) and Sunil Jaiswal. The course instructor was Prof. C. … Continue reading 3D Reconstruction with Single View