‎"Behind every stack of books there is a flood of knowledge."

Geometrical image analysis


Lecture notes

HZ – Hartley, Zisserman, Multiple View Geometry in computer vision.


  • Math
  • Graphics
  • Factorization, camera matrices.
    • rq.m The RQ factorization.
    • cholesky.m Cholesky decomposition.
    • rotmat3d.m Generate rotation matrix from 3 Euler angles.
    • derotmat3d.m Unpack a rotation matrix into Euler angles.
    • melencomp.m Construct a camera matrix according to the paper by Melen.
    • melendecomp.m Unpack a camera matrix according to the paper by Melen.
  • Förstner-related code
    • corners.m Code that filters an image according to the Harris and Förstner papers.
    • localmax.m Local non-maxima suppression.
    • islocalmax.m Filter kernel to localmax.
    • seldomness.m Calculate the seldomness coefficient.
    • crosscorr.m Calculate normalized cross-correlation between two image.
    • foerstnerpttest.m Test code to illustra the refined, subwindow Förstner operator.
  • Optimization.
    • gaussn.m The Gauss-Newton method for solving weighted non-linear least squares problems.
    • sqpw.m The Gauss-Newton method for solving non-linear least squares problem with non-linear equality constraints (SQP=Sequential quadratic programming).
    • jacapprox.m Numerical approximation of jacobian.
  • The fundamental matrix
    • fmat7solve.m The 7-point algorithm for the fundamental matrix.
    • dist2lines.m Closest distance between points and lines.
    • calcfundgeom.m Find optimal fundamental matrix by minimizing the reprojection error. Uses sqpw.m and support functions
    • matchedpt.m Correctly matched points.


Course textbook

Richard Hartley and Andrew Zisserman Multiple View Geometry in computer vision, 2nd ed., Cambridge Press, 2004, ISBN-0-521-54051-8. Link to textbook homepage.Course textbook

Reference literature

  • Photogrammetry
    • Chris McGlone, ed., Manual of Photogrammetry, 5th ed., ASPRS 2004, ISBN 1-57083-071-1.
    • Edward M. Mikhail, James S. Bethel, J. Chris McGlone, Introduction to Modern Photogrammetry, Wiley 2001, ISBN 0-471-30924-9.
    • K. B. Atkinson, ed., Close Range Photogrammetry and Machine Vision, Whittles 2001, ISBN 1-870325-73-7.
    • H. M. Karara, ed. Non-Topographic Photogrammetry, 2nd ed., American Society for Photogrammetry and Remote Sensing 1989, ISBN 0-944426-10-7.
  • Computer vision
    • Emanuele Trucco, Alessandro Verri, Introductory Techniques for 3-D Computer Vision, Prentice-Hall 1998, ISBN 0-13-261108-2.
    • Olivier Faugeras, Three-dimensional Computer Vision – A Geometric Viewpoint, MIT Press 1996, ISBN 0-262-06158-9.
  • Image processing
    • Rafael C. Gonzalez, Richard E. Woods, Digital Image Processing, 2nd ed., Prentice-Hall 2002, ISBN 0-13-094650-8.
    • Kenneth R. Castleman, Digital Image Processing, Prentice-Hall 1996, ISBN-0-13-211467-4.
    • Gösta H. Granlund, Hans Knutsson, Signal Processing for Computer Vision, Kluwer 1995, ISBN 0-7923-9530-1.
  • Non-linear optimization
    • Stephen G. Nash, Ariela Sofer, Linear and Nonlinear Programming, McGraw-Hill 1996, ISBN 0-07-114537-0.

Sample chapters

  • Contents  pdf
  • Introduction  pdf
  • Epipolar Geometry and the Fundamental Matrix  pdf
  • The Trifocal Tensor  pdf
  • Bibliography  pdf


Matlab code

Corrections and Errata (pdf)


Leave a Reply

Fill in your details below or click an icon to log in: Logo

You are commenting using your account. Log Out / Change )

Twitter picture

You are commenting using your Twitter account. Log Out / Change )

Facebook photo

You are commenting using your Facebook account. Log Out / Change )

Google+ photo

You are commenting using your Google+ account. Log Out / Change )

Connecting to %s

Virtual Fashion Technology

Virtual Fashion Education


"chúng tôi chỉ là tôi tớ của anh em, vì Đức Kitô" (2Cr 4,5b)


News About Tech, Money and Innovation


Modern art using the GPU

Theme Showcase

Find the perfect theme for your blog.


Learn to Learn

Gocomay's Blog

Con tằm đến thác vẫn còn vương tơ

Toán cho Vật lý

Khoa Vật lý, Đại học Sư phạm Tp.HCM - ĐT :(08)-38352020 - 109

Maths 4 Physics & more...

Blog Toán Cao Cấp (M4Ps)

Bucket List Publications

Indulge- Travel, Adventure, & New Experiences


‎"Behind every stack of books there is a flood of knowledge."

The Blog

The latest news on and the WordPress community.

%d bloggers like this: