1Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityZhejiang University Computer Vision, Winter 2010Lecture 1 Introduction and Image FormationZhiyu xiang Email: xiangzyzju.edu.cn 13989452718 Room 315, ISEE Department building Part of the slides courtesy of Prof. Thrun from Stanford University 2Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityGoals Learn about the course Get Excited about Computer Vision Learn about Image Formation lens3Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityReference booksDavid A Forsyth, Computer Vision: A modern Approach;张广军，机器视觉，科学出版社，张广军，机器视觉，科学出版社，2005 马颂德，张正友，计算机视觉计算理论与算法基础，科学出版社，马颂德，张正友，计算机视觉计算理论与算法基础，科学出版社，1998 贾云得，机器视觉，科学出版社，贾云得，机器视觉，科学出版社，2000 4Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityCourse Overview Basics Image Formation and Camera Calibration Image Features 3D Reconstruction Stereo Image Mosaics Motion Optical Flow Structure From Motion Tracking Object detection and recognition Grouping Detection Segmentaiton Classification5Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityGoals To familiarize you with the basic techniques in the field To enable you to solve computer vision problems To let you experience (and appreciate!) the difficulties of real-world computer vision To get you excited!6Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityRequirements Attend + participate in all classes Turn in all assignments Successfully carry out programming project Attend the final exam No exceptions!7Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityGrading Criteria 20% Participation 40% Assignments and projects 40% Final exam8Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityTodays Goals Learn about course Get Excited about Computer Vision Introduction of CV history Learn about image formation (tbc)9Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityWhat is Computer Vision?10Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityWhat is Computer Vision? Image Understanding (AI, behavior) A sensor modality for robotics Computer emulation of human vision Inverse of Computer GraphicsComputer graphicsWorld modelComputer visionWorld modelReal WorldReal World11Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityIntersection of Vision and Graphicsmodeling - shape - light - motion - optics - images IPanimationrenderinguser-interfacessurface designComputer Graphicsshape estimationmotion estimationrecognition2D modelingmodeling - shape - light - motion - optics - images IPComputer Vision12Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityComputer GraphicsImageOutputModelSynthetic Camera(slides courtesy of Michael Cohen)13Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityReal SceneComputer VisionReal CamerasModelOutput(slides courtesy of Michael Cohen)14Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityCombinedModelReal SceneReal CamerasImageOutputSynthetic Camera(slides courtesy of Michael Cohen)15Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversitySyllabus Image Transforms / Representations filters, pyramids, steerable filters warping and resampling blending image statistics, denoising/coding edge and feature detection16Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityImage Pyramid Bandpass ImagesLowpass Images17Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityPyramid Blending18Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityParametric (global) warping Examples of parametric warps:translationrotationaspectaffineperspectivecylindrical19Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversitySyllabus Optical Flow least squares regression iterative, coarse-to-fine parametric robust flow and mixture models layers, EM20Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityExample : Optical FlowDavid Stavens, Andrew Lookingbill, David Lieb, CS223b Winter 200421Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversitySyllabus Projective geometry points, lines, planes, transforms Camera calibration and pose point matching and tracking lens distortion Image registration mosaics22Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityPanoramic Mosaics+ + + =23Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityExample : Image Registration Brown & Lowe 200324Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversitySyllabus 3D structure from motion two frame techniques factorization of shape and motion bundle adjustment25Zhiyu Xiang Computer Vision, Winter 2010, Zhejiang UniversityExample : Structur