# Lib4U

‎"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.

## Code

• 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.

• Camera calibration toolbox for matlab.

## 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.

## 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

## Source:

http://www.robots.ox.ac.uk/~vgg/hzbook/

http://www8.cs.umu.se/kurser/TDBD19/VT05/

### Information

This entry was posted on March 3, 2013 by in Computer Science, Digital Signal Process, Electronic & Computer Engineering, Science & Technology.

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