Computer Vision

Fundamentals of Computer Vision with an emphasis on multiview geometry and drone imaging. Camera models, Camera calibration, epipolar geometry, essential and fundamental matrices, relative pose estimation, RANSAC, two-view and multiview triangulation, 3D reconstruction, bundle adjustment, Levenberg-Marquardt, absolute pose estimation (PnP/EPnP), drone flight operation and image acquisition, feature-based Visual Odometry (VO), Optical Flow, Direct VO, Simultaneous Localization and Mapping (SLAM), Stereo and Multiview Stereo, pose averaging, trifocal pose estimation, Image-Based Localization (IBL), edge/curve-based odometry, RGBD cameras (Microsoft Kinect, Intel RealSense), surface reconstruction and modeling.