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CLASS SEQUENCE (w adjustments in "real time")

Class 1

Topic: Linear Algebra, SVD Decomposition and Linear Regression

  • Matrices
  • Eigenvectors
  • Matrix decomposition
  • Rank, Linear combination
  • Linear Regression

Objective: Determine equation of 3D plane from a point cloud

Class 2

Topic: Camera model and point clouds

  • Depth images
  • Point clouds
  • Depth to image registration

Objective: Generate point cloud from depth image

Class 3

Topic: Camera calibration

  • Estimate camera intrinsic and extrinsic parameters
  • QR decomposition

Objective: Estimate K, R and T

Class 4

Topic: Multiview Geometry

  • Epipolar geometry
  • Mapping points between images

Objective: Given a point in an RGB image, determine its position in another RGB image (different view/pose)

Class 5

Topic: Homography

  • Given pairs of points, estimate H
  • Given K, estimate R, T

Objective: Given pairs of keypoints, estimate homography of two images (H1, H2) and estimate the transformation between them (H3)

Class 6

Topic: Features, Keypoints and RANSAC

  • SIFT / SURF
  • Matching
  • RANSAC

Objective: Detect and match keypoints, and estimate homography with RANSAC

Class 7

Topic: Procrustes and ICP

  • Registration of point clouds (given matches)
  • Registration of point clouds (without matches)

Objective: Register two point clouds and show their combination

Class 8

Topic: Structure from Motion

  • Lucas-Kanade
  • Tomasi-Kanade

Objective: Factorize observation matrix into motion and structure with Tomasi-Kanade factorization

Class 9

Topic: Classification Networks and visualization techniques

  • Learned filters vs traditional filters
  • Dimensionality reduction (PCA, ISOMAP, t-SNE)
  • Visualization of embeddings

Objective: Given embeddings of classification network from two classes, identify clusters and classify data

Class 10

Project Checkpoint

Class 11

Topic: Segmentation Networks

  • Image representation vs pixel representation
  • Visualization of embeddings and comparison with classification
  • Segmentation post-processing techniques
  • Morphological operations

Objective: segment images

Class 12

Topic: Revisions

Objective: Solve exercises

Class 13

Topic: Project submission follow-up

Objective: Put project code to the test

Class 14

Topic: Revisions

Objective: Solve exercises