The definitive reference on projective geometry for vision, rebuilt chapter by chapter as interactive lessons. From homogeneous coordinates to auto-calibration, with live simulations at every step.
Projective geometry everywhere, camera projections, reconstruction from views, the big picture.
Homogeneous coordinates, points, lines, conics, transformation hierarchy, the line at infinity.
Planes, lines, quadrics in 3-space, the plane at infinity, the absolute conic.
DLT algorithm, cost functions, MLE, normalization, RANSAC robust estimation.
Performance bounds, covariance estimation, Monte Carlo methods, MLE residuals.
Pinhole model, calibration matrix K, finite cameras, projective cameras, cameras at infinity.
DLT for cameras, geometric error, restricted estimation, radial distortion.
Vanishing points, vanishing lines, camera calibration from a single view, IAC.
Epipoles, epipolar lines, the fundamental matrix F, the essential matrix E, special motions.
Projective reconstruction theorem, stratified reconstruction, reconstruction ambiguity.
8-point algorithm, normalization, RANSAC for F, degeneracies, image rectification.
Linear triangulation, geometric error, optimal triangulation, line reconstruction.
Plane-induced homographies, computing F from homography, the infinite homography.
Line incidence, point transfer, tensor notation, fundamental matrices from three views.
Bundle adjustment, factorization algorithm, projective factorization, sequence reconstruction.
Absolute dual quadric, Kruppa equations, stratified self-calibration, rotating cameras.