Week 8 - 3D pose and Lie theory in practice
How do we work with the orientation and position of a camera in practice?
Lectures
The Lie lectures this week are only given in Norwegian. Let Trym know if anyone would like to discuss these lectures in English before Wednesday!
- Orientation in 3D (video?|?pdf)
- Pose in 3D (video | pdf)
- The perspective camera model revisited (video?| pdf)
- An introduction to Lie theory (video?| pdf)
- Applying Lie theory in practice (video?| pdf)
Recommended reading
- VSLAM-Handbook: Ch. 2, 3.1 and?4
Lab: Pose and camera geometry
In this lab we will experiment with poses in different coordinate frames together with the perspective camera model, using real data taken from a helicopter flying around Holmenkollen.
C++
You will find the lab at https://github.com/tek5030/lab-camera-pose.
Follow the lab guide in README.md.
Python
You will find the lab at https://github.com/tek5030/lab-camera-pose-py.
Follow the lab guide in README.md.