Computer Vision Laboratory (CVL)

Introduction to Representations and Estimation in Geometry, version 0.31
by Klas Nordberg

This compendim contains an introduction to representations that are used in the context of 2D and 3D geometry, including homogenoues coordinates, Plücker coordinates and several representations of 3D rotations. These are then used in various estimation problems in geometry, based on minimizing algebraic or geometric errors, and solved by linear or non-linear methods. Finally, the compendium contains a part that combines representations and estimation for solving a set of practical applications, such as camera calibration, image mosaics, and structure from motion. The compendium has an appendix that contains most of the additional theory that is required in the primary parts.

Additionally, there is a separate compendium: Prerequisites for studies at advanced level in Image Science at Linköping University which summaries the required background theory that the reader is assumed to be familiar with, presented in undergraduate courses.

The compendium is intended for courses in master programs at advanced level, or in PhD courses at introductory level.

Table of Contents

Index

Errata

How do I get it?

A printed version of the compendium is available from LiU-tryck, and sold at their shop in Building A. For information about prices and availablility, please refer to LiU-tryck. The internal reference for this publication at LiU-tryck is A1441.

An electronic version will be made available to students in the courses TSB06, TSB09 and TSB15. More information about this will come through the course information.

Earlier versions

The errata pages for earlier versions are available here:

Last updated: 2016-01-28