3D Visual Perception

3 credits · Undergraduate Programs

Photogrammetric, computer-vision and robotic methods for extracting three-dimensional information from images, videos or image sequences. Introduction to Lie Algebra. Projective geometry. Epipolar geometry. Geometry of image triplets. Overview of feature-based matching techniques. View clustering and structure from motion. Bundle adjustment techniques. Optical and scene flow estimation. Deterministic visual SLAM, probabilistic visual SLAM and visual-inertial SLAM. Probabilistic occupancy grid mapping for obstacle avoidance. Other advanced topics in the state-of-the-art visual odometry. Prerequisite(s): Fourth-year standing or higher in Geomatics Engineering and admission to the Aerospace Engineering minor.