{"id":425,"date":"2024-09-12T11:56:48","date_gmt":"2024-09-12T11:56:48","guid":{"rendered":"https:\/\/cv.inf.elte.hu\/?page_id=425"},"modified":"2026-03-25T06:55:41","modified_gmt":"2026-03-25T06:55:41","slug":"3d-computer-vision","status":"publish","type":"page","link":"https:\/\/cv.inf.elte.hu\/index.php\/education\/3d-computer-vision\/","title":{"rendered":"3D Computer Vision"},"content":{"rendered":"\n<p><strong>Lecture<\/strong>: on Thursdays, 8:30-10:00, South Building, room 5-202<\/p>\n\n\n\n<p><strong>Practices (labs):<\/strong> on Thursdays, 10:15-11:45, South Building, room 2-219 (Graphics Laboratory)<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><strong>Rules&nbsp;for quizzes<\/strong><\/p>\n\n\n\n<p>There are 10 quizzes in the semester.&nbsp; They should be filled in at the beginning of the laboratories, <strong>online attendance is not allowed<\/strong>.&nbsp;<\/p>\n\n\n\n<p>There are 5 questions in each quiz. You get&nbsp;<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>+1 point: if four or five answers are correct.&nbsp;<\/li>\n\n\n\n<li>0 point if you give three good answers&nbsp;<\/li>\n\n\n\n<li>-1 point: less than three correct ones&nbsp;<\/li>\n<\/ul>\n\n\n\n<p>At the end, all the points are summed.&nbsp; You have to reach <strong>+5 points , in total, to pass the subject<\/strong>.&nbsp; Theoretically, the maximum is +10 points. The points do not count for your final grade, quizzes are to check the minimal requirements.&nbsp;<\/p>\n\n\n\n<p>If you miss\/fail a quiz, you can do a full set of quizzes in the beginning of the exam&#8217;s period. There are 25 questions, at least 17 points should be obtained to pass the subject.<\/p>\n\n\n\n<p><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2026\/02\/3DVision__lecture00_2026spring.pdf\">First lecture<\/a><\/p>\n\n\n\n<p>Interesting videos: <a href=\"https:\/\/www.youtube.com\/@geometriccomputervisiongro6255\">GCVG Youtube channel<\/a><\/p>\n\n\n\n<p><strong>Agenda<\/strong> (2025 fall)<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td>Week<\/td><td><strong>Lecture<\/strong><\/td><td><strong>Laboratory<\/strong><\/td><\/tr><tr><td>1st &#8211; Registration week<\/td><td><\/td><td><\/td><\/tr><tr><td>2nd<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2025\/09\/3DVision__lecture00_2025fall.pdf\">Introduction<\/a><\/td><td>Vehicle and sensor kit demonstration<br>(<a href=\"https:\/\/ikelte-my.sharepoint.com\/:f:\/g\/personal\/hajder_inf_elte_hu\/EnLPMRb8QZdPt9kcI97Oq6cBUKhPHen2u0x7bMEt6gOzkA?e=mo0WJz\" data-type=\"link\" data-id=\"https:\/\/ikelte-my.sharepoint.com\/my?id=%2Fpersonal%2Fhajder%5Finf%5Felte%5Fhu%2FDocuments%2FVideok%2FELTECAR%20and%20ELTEKart%20prezi%20%2D%2D%202023%20september&amp;ct=1726217861476&amp;or=Teams%2DHL&amp;ga=1\"> videos of 2023<\/a>)<\/td><\/tr><tr><td>3rd<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/matrix.pdf\">Estimation theory: inhomogeneous linear systems<\/a>, <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/CircleEllipseFitting.pdf\">Circle estimation<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/13HN6IMVJA_O7eoTLeXGLdtL2-h8FPS0f#scrollTo=rwGd9qre3RWY\" data-type=\"link\" data-id=\"https:\/\/colab.research.google.com\/drive\/1ve-zjGf3i2wjMFXrtfAoEuQPoFS0GO2r?usp=sharing\"><\/a><a href=\"https:\/\/colab.research.google.com\/drive\/1ve-zjGf3i2wjMFXrtfAoEuQPoFS0GO2r?usp=sharing\">Affine\/Perspective transformations<\/a><\/td><\/tr><tr><td>4th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/RANSAC_Tekla.pdf\">Robust fitting. The RANSAC algorithm.<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1773pejXS01vlJpHIlvs_FQEHqnXoOb4C\">RANSAC<\/a><\/td><\/tr><tr><td>5th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/Lagrange-1.pdf\">Constrained optimization: Lagrange-multipliers<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1eS0tjL8j8gi3iLulLReT9-eLniW5xrr2?usp=sharing\">Multi-model fitting<\/a><\/td><\/tr><tr><td>6th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Camera models,projections<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1ScNLyYC-ioBkeyEjXvQ1-tFsd8pGeejk?usp=sharing\">Point-cloud visualization<\/a><\/td><\/tr><tr><td>7th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Homographies.<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/17BZgnMqTTbItVWLiqeu37QES3k5rY8RO?usp=sharing\">Homography Estimation<\/a><\/td><\/tr><tr><td>8th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Camera Calibration<\/a><\/td><td>Consultation<\/td><\/tr><tr><td>9th<\/td><td>break<\/td><td>break<\/td><\/tr><tr><td>10th<\/td><td><\/td><td><\/td><\/tr><tr><td>11th<\/td><td><\/td><td><\/td><\/tr><tr><td>12th<\/td><td><\/td><td><\/td><\/tr><tr><td>13th<\/td><td><\/td><td><\/td><\/tr><tr><td>14th<\/td><td><\/td><td><\/td><\/tr><tr><td>15th<\/td><td><\/td><td><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Previous semester<\/h2>\n\n\n\n<p><strong>Oral exams:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>17th December 10:00, room 0-412 R\u00e9nyi Alfr\u00e9d (South Building)<\/li>\n\n\n\n<li>7th January 10:00, room 0-412 R\u00e9nyi Alfr\u00e9d (South Building)<\/li>\n\n\n\n<li>14th January 10:00, room 0-412 R\u00e9nyi Alfr\u00e9d (South Building)<\/li>\n\n\n\n<li>21th January 10:00, room 0-412 R\u00e9nyi Alfr\u00e9d (South Building)<\/li>\n\n\n\n<li>28th January 10:00, room 0-412 R\u00e9nyi Alfr\u00e9d (South Building)<\/li>\n<\/ul>\n\n\n\n<p><strong>Assignment presentations:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>16th December 15:00 (online)<\/li>\n\n\n\n<li>6th January 15:00 (online)<\/li>\n\n\n\n<li>13th January 15:00 (online)<\/li>\n\n\n\n<li>20th January 15:00 (online)<\/li>\n\n\n\n<li>27th January 15:00 (online)<\/li>\n<\/ul>\n\n\n\n<p><\/p>\n\n\n\n<p><strong>Agenda<\/strong> (2025 fall)<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td>Week<\/td><td><strong>Lecture<\/strong><\/td><td><strong>Laboratory<\/strong><\/td><\/tr><tr><td>1st &#8211; Registration week<\/td><td><\/td><td><\/td><\/tr><tr><td>2nd<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2025\/09\/3DVision__lecture00_2025fall.pdf\">Introduction<\/a><\/td><td>Vehicle and sensor kit demonstration<br>(<a href=\"https:\/\/ikelte-my.sharepoint.com\/:f:\/g\/personal\/hajder_inf_elte_hu\/EnLPMRb8QZdPt9kcI97Oq6cBUKhPHen2u0x7bMEt6gOzkA?e=mo0WJz\" data-type=\"link\" data-id=\"https:\/\/ikelte-my.sharepoint.com\/my?id=%2Fpersonal%2Fhajder%5Finf%5Felte%5Fhu%2FDocuments%2FVideok%2FELTECAR%20and%20ELTEKart%20prezi%20%2D%2D%202023%20september&amp;ct=1726217861476&amp;or=Teams%2DHL&amp;ga=1\"> videos of 2023<\/a>)<\/td><\/tr><tr><td>3rd<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/matrix.pdf\">Estimation theory: inhomogeneous linear systems<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/13HN6IMVJA_O7eoTLeXGLdtL2-h8FPS0f#scrollTo=rwGd9qre3RWY\" data-type=\"link\" data-id=\"https:\/\/colab.research.google.com\/drive\/1ve-zjGf3i2wjMFXrtfAoEuQPoFS0GO2r?usp=sharing\">Intro to 3D Computer Vision<\/a><\/td><\/tr><tr><td>4th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/CircleEllipseFitting.pdf\">Circle Estimation<\/a> <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/Lagrange-1.pdf\">Lagrange multiplier technique.<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1ve-zjGf3i2wjMFXrtfAoEuQPoFS0GO2r?usp=sharing\">Affine\/Perspective transformations<\/a><\/td><\/tr><tr><td>5th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Camera models.<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1773pejXS01vlJpHIlvs_FQEHqnXoOb4C\">RANSAC<\/a><\/td><\/tr><tr><td>6th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Back-projection,<\/a> <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Homographies.<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1ScNLyYC-ioBkeyEjXvQ1-tFsd8pGeejk?usp=sharing\">Point-cloud visualization<\/a><\/td><\/tr><tr><td>7th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Homographies (cont.), homography estimation. Data normalization.<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1eS0tjL8j8gi3iLulLReT9-eLniW5xrr2?usp=sharing\">Multi-model fitting<\/a><\/td><\/tr><tr><td>8th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/Lagrange-1.pdf\">Optimal line\/plane fitting.<\/a> <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/Lagrange-1.pdf\">Singular Value Decomposition<\/a>. <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Introduction to Camera Calibration.<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/17BZgnMqTTbItVWLiqeu37QES3k5rY8RO?usp=sharing\">Homography Estimation<\/a><\/td><\/tr><tr><td>9th<\/td><td>break<\/td><td>break<\/td><\/tr><tr><td>10th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Camera Calibration.<\/a> <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Introduction to stereo vision<\/a>.<\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/17BZgnMqTTbItVWLiqeu37QES3k5rY8RO?usp=sharing\">Homography Estimation<\/a> \/ Quiz-retake<\/td><\/tr><tr><td>11th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Deep Dive in stereo Vision<\/a><\/td><td><a href=\"https:\/\/github.com\/tarlanahad\/3D-CV-Study-Materials\/blob\/main\/Camera%20Calibration\/Practice.ipynb\">Camera Calibration<\/a><\/td><\/tr><tr><td>12th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Stereo Vision: triangulation, essential matrix decomposition<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1ypM2jIcDVKXmfcLLUvxgXN8Ig1WddFG9?usp=sharing\">Stereo Vision #1 (Epipolar geometry)<\/a><\/td><\/tr><tr><td>13th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Stereo Vision: planar motion<\/a>. Point registration: <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/pointreg-1.pdf\">theory<\/a><\/td><td>Quiz retake\/<a href=\"https:\/\/colab.research.google.com\/drive\/13jg9Bfw-4qwsUpmhFBA7KraTVzkrBTKT?usp=sharing\"><\/a><a href=\"https:\/\/colab.research.google.com\/drive\/13jg9Bfw-4qwsUpmhFBA7KraTVzkrBTKT?usp=sharing\">Stereo Vision #2 (Triangulation)<\/a><\/td><\/tr><tr><td>14th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/12\/numerical.pdf\">Numerical Optimization.<\/a> <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec03_multicamera.pdf\">Bundle adjustment. <\/a><\/td><td>Quiz retake\/<a href=\"https:\/\/colab.research.google.com\/drive\/13jg9Bfw-4qwsUpmhFBA7KraTVzkrBTKT?usp=sharing\">Stereo Vision #2 (Triangulation)<\/a><\/td><\/tr><tr><td>15th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec03_multicamera.pdf\">Tomasi-Kanade factorization<\/a>. <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/12\/lec04_hardware.pdf\">Special hardwares.<\/a><\/td><td> <a href=\"https:\/\/colab.research.google.com\/drive\/1NrV_CfeJmv4IGoDU8pBPq-FjwCcuSXQi?usp=sharing\">Point registration<\/a><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p><\/p>\n\n\n\n<p><span style=\"text-decoration: underline;\"><strong>Rules&nbsp;for quizzes<\/strong><\/span><\/p>\n\n\n\n<p>There are at least 10 quizzes in the semester.&nbsp; They should be filled in at the beginning of the laboratories, <strong>online attendance is not allowed<\/strong>.&nbsp;<\/p>\n\n\n\n<p>There are 5 questions in each quiz. You get&nbsp;<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>+1 point: if four or five answers are correct.&nbsp;<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>0 point if you give three good answers&nbsp;<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>-1 point: less than three correct ones&nbsp;<\/li>\n<\/ul>\n\n\n\n<p>At the end, all the points are summed.&nbsp; You have to reach <strong>+3 points (updated on 25th Nov!), in total, to pass the subject<\/strong>.&nbsp; Theoretically, the maximum is +8 points. The points do not count for your final grade, quizzes are to check the minimal requirements.&nbsp;<\/p>\n\n\n\n<p>If you miss\/fail a quiz, you can do it later again. There will be four special weeks when you can repeat one quiz. (One retake\/day)&nbsp;<\/p>\n\n\n\n<p><strong>Topics for oral exam:<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Basic estimation theory: solution for homogeneous and inhomogeneous linear system of equations.<\/li>\n\n\n\n<li>Robust fitting methods: the RANSAC method.<\/li>\n\n\n\n<li>Multi-model fitting: sequential RANSAC, MultiRANSAC<\/li>\n\n\n\n<li>Camera models: perspective camera, orthogonal projection, weak-perspective camera.<\/li>\n\n\n\n<li>Calibration of perspective camera using a spatial calibration object: Estimation and decomposition of projection matrix.<\/li>\n\n\n\n<li>Chessboard-based calibration of perspective cameras. Radial and tangential distortion.<\/li>\n\n\n\n<li>Plane-plane homography. Panoramic images by homographies.<\/li>\n\n\n\n<li>Estimation of homography. Data normalization.<\/li>\n\n\n\n<li>Basics of epipolar geometry. Essential and fundamental matrices. Rectification.<\/li>\n\n\n\n<li>Estimation of essential and fundamental matrices. Data normalization. Decomposition of essential matrix.<\/li>\n\n\n\n<li>Triangulation for both standard and general stereo vision.<\/li>\n\n\n\n<li>Stereo vision for planar motion.<\/li>\n\n\n\n<li>Tomasi-Kanade factorization: multi-view reconstruction by orthogonal and weak-perspective camera models.<\/li>\n\n\n\n<li>Reconstruction by merging stereo reconstructions. Registration of two point sets by a similarity transformation.<\/li>\n\n\n\n<li>Numerical optimization<\/li>\n\n\n\n<li>Numerical multi-view reconstruction: bundle adjustment.<\/li>\n\n\n\n<li>Reconstruction by special devices: laser scanning, depth camera, LiDAR.<\/li>\n<\/ol>\n\n\n\n<p><\/p>\n\n\n\n<p>Lectures: on <em>Wednesdays, 18:45-20:15 <\/em>, lecture hall 0-805 Fej\u00e9r Lip\u00f3t  (South Building)<\/p>\n\n\n\n<p><strong>Practices:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Group #1: on <em>Tuesdays 10.15-11.45<\/em>, 2.218 Computer Algebra lab. (South Building)<\/li>\n\n\n\n<li>Group #2: on <em>Fridays 8.15-9.45<\/em>, 7-89 AI lab. (North Building)<\/li>\n\n\n\n<li>Group #3: on <em>Fridays 10.15-11.45<\/em>, 7-15 PC11 (North Building)<\/li>\n<\/ul>\n\n\n\n<p><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Final grade<\/h3>\n\n\n\n<p>The final grade is the sum of oral exam (max. 50%) and assignment scores. At least 40% (20+20) should be reached both from oral exam and assignment scores. <\/p>\n\n\n\n<p>Thresholds for marks as follows:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Excellent (5): &gt;=85%<\/li>\n\n\n\n<li>Good (4): 70-84%<\/li>\n\n\n\n<li>Satisfactory (3): 55-69%<\/li>\n\n\n\n<li>Pass (2): 40-64%<\/li>\n\n\n\n<li>Fail (1): &lt;40%<\/li>\n<\/ul>\n\n\n\n<p><\/p>\n\n\n\n<p><strong>Agenda<\/strong> (2025 spring)<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td>Week<\/td><td><strong>Lecture<\/strong><\/td><td><strong>Laboratory<\/strong><\/td><\/tr><tr><td>1st &#8211; Registration week<\/td><td><\/td><td><\/td><\/tr><tr><td>2nd<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2025\/02\/3DVision__lecture00_2025spring.pdf\">Introduction<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/13HN6IMVJA_O7eoTLeXGLdtL2-h8FPS0f#scrollTo=rwGd9qre3RWY\" data-type=\"link\" data-id=\"https:\/\/colab.research.google.com\/drive\/1ve-zjGf3i2wjMFXrtfAoEuQPoFS0GO2r?usp=sharing\">Intro to 3D Computer Vision<\/a><\/td><\/tr><tr><td>3rd<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/matrix.pdf\">Estimation theory: inhomogeneous linear systems<\/a><\/td><td>Vehicle and sensor kit demonstration<br>(<a href=\"https:\/\/ikelte-my.sharepoint.com\/:f:\/g\/personal\/hajder_inf_elte_hu\/EnLPMRb8QZdPt9kcI97Oq6cBUKhPHen2u0x7bMEt6gOzkA?e=mo0WJz\" data-type=\"link\" data-id=\"https:\/\/ikelte-my.sharepoint.com\/my?id=%2Fpersonal%2Fhajder%5Finf%5Felte%5Fhu%2FDocuments%2FVideok%2FELTECAR%20and%20ELTEKart%20prezi%20%2D%2D%202023%20september&amp;ct=1726217861476&amp;or=Teams%2DHL&amp;ga=1\"> videos of 2023<\/a>)<\/td><\/tr><tr><td>4th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/CircleEllipseFitting.pdf\">Circle Estimation<\/a>  <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/Lagrange-1.pdf\">Lagrange mutliplier technique.<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1ve-zjGf3i2wjMFXrtfAoEuQPoFS0GO2r?usp=sharing\">Affine\/Perspective transformations<\/a><\/td><\/tr><tr><td>5th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/RANSAC_Tekla.pdf\">Robust fitting: RANSAC method<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1773pejXS01vlJpHIlvs_FQEHqnXoOb4C\">RANSAC<\/a><\/td><\/tr><tr><td>6th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/Lagrange-1.pdf\">Homogeneous systems, Lagrange multipliers. Point-line\/plane distances. Optimal line\/plane fitting.<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1ScNLyYC-ioBkeyEjXvQ1-tFsd8pGeejk?usp=sharing\">Point-cloud visualization<\/a><\/td><\/tr><tr><td>7th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/Lagrange-1.pdf\">Singular Value Decomposition<\/a>. <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Camera models.<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/1eS0tjL8j8gi3iLulLReT9-eLniW5xrr2?usp=sharing\">Multi-model fitting<\/a><\/td><\/tr><tr><td>8th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Homography Estimation. Data normalization.<\/a><\/td><td><a href=\"https:\/\/colab.research.google.com\/drive\/17BZgnMqTTbItVWLiqeu37QES3k5rY8RO?usp=sharing\">Homography Estimation<\/a><\/td><\/tr><tr><td>9th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Camera Calibration.<\/a> <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/rq.pdf\">RQ-decomposition<\/a><\/td><td><a href=\"https:\/\/github.com\/tarlanahad\/3D-CV-Study-Materials\/blob\/main\/Camera%20Calibration\/Practice.ipynb\">Camera Calibration<\/a><\/td><\/tr><tr><td>10th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Radial-Tangential distortion.<\/a> <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Introduction to stereo vision<\/a><\/td><td>Point registration: <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/pointreg-1.pdf\">theory<\/a> &amp; <a href=\"https:\/\/colab.research.google.com\/drive\/1NrV_CfeJmv4IGoDU8pBPq-FjwCcuSXQi?usp=sharing\">source code<\/a><\/td><\/tr><tr><td>11th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Stereo vision<\/a><\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/12\/StereoTriangulation.zip\">Stereo Vision Triangulation<\/a><\/td><\/tr><tr><td>12th<\/td><td>Break.<\/td><td>Break<\/td><\/tr><tr><td>13th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Stereo Vision<\/a>.<\/td><td>&#8212;<\/td><\/tr><tr><td>14th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Planar Motion.<\/a> <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/12\/numerical.pdf\">Numerical Optimization.<\/a> <\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2025\/05\/ObjectDetection.zip\">Object detection<\/a><\/td><\/tr><tr><td>15th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec03_multicamera.pdf\">Bundle adjustment. Tomasi-Kanade factorization<\/a> <\/td><td>Tomasi-Kanade factorization. C++ source for <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/TomasiKanade_win.zip\">windows<\/a>, <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/TomasiKanade_linux.zip\">linux<\/a><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p>Fall semester of 2024<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">3D Computer Vision<\/h1>\n\n\n\n<p>Lectures: on <em>Mondays, 8:25-9:55 <\/em>, lecture hall 0.79 &nbsp;0.79&nbsp;<em>J\u00e1nossy Lajos lecture hall,&nbsp;<\/em>  (North Building)<\/p>\n\n\n\n<p><strong>Practices:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>On <em>Wednesdays 17.55-19.25<\/em>, South building at\n<ul class=\"wp-block-list\">\n<li>South building 0-311 Konig terem room<\/li>\n\n\n\n<li>South building 0-312 Gallai Tibor room<\/li>\n\n\n\n<li>(South building 0-220 K\u00e1rteszi Ferenc room)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>Teachers:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"mailto:hajder_at_inf.elte.hu\">Levente Hajder<\/a><\/li>\n\n\n\n<li><a href=\"http:\/\/cg.elte.hu\/~tofi\">Tam\u00e1s T\u00f3falvi<\/a><\/li>\n\n\n\n<li>Tarlan Ahadli<\/li>\n<\/ul>\n\n\n\n<p><strong>Demonstrators<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>M\u00e1t\u00e9 Po\u00f3r<\/li>\n\n\n\n<li>Muhammad Rafi Faisal<\/li>\n<\/ul>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><strong>Agenda<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td>Week<\/td><td><strong>Lecture<\/strong><\/td><td><strong>Laboratory<\/strong><\/td><\/tr><tr><td>1st &#8211; Registration week<\/td><td><\/td><td><\/td><\/tr><tr><td>2nd<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/3DVision__lecture_00-1.pdf\">Introduction<\/a><\/td><td>Vehicle and sensor kit demonstration<br>(<a href=\"https:\/\/ikelte-my.sharepoint.com\/:f:\/g\/personal\/hajder_inf_elte_hu\/EnLPMRb8QZdPt9kcI97Oq6cBUKhPHen2u0x7bMEt6gOzkA?e=mo0WJz\" data-type=\"link\" data-id=\"https:\/\/ikelte-my.sharepoint.com\/my?id=%2Fpersonal%2Fhajder%5Finf%5Felte%5Fhu%2FDocuments%2FVideok%2FELTECAR%20and%20ELTEKart%20prezi%20%2D%2D%202023%20september&amp;ct=1726217861476&amp;or=Teams%2DHL&amp;ga=1\"> videos of 2023<\/a>)<\/td><\/tr><tr><td>3rd<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/matrix.pdf\">Estimation theory: inhomogeneous linear systems<\/a><\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/IntroductionGUI.zip\">OpenCV installation, GUI by OpenCV<\/a><\/td><\/tr><tr><td>4th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/Lagrange-1.pdf\">Lagrange multipliers; homogeneous linear systems, point-line\/plane distances<\/a><\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/AffineTransformations.zip\">Affine Transformations<\/a><\/td><\/tr><tr><td>5th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/RANSAC_Tekla.pdf\">Random Sampling Consensus (RANSAC) <\/a><\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/RANSAC_complete-1.zip\">RANSAC<\/a>  (<a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/ranasc_practice_whiteboard-4.pdf\">Whiteboard<\/a>)<\/td><\/tr><tr><td>6th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/09\/Lagrange-1.pdf\">Optimal Plane Fitting; SVD;<\/a> <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Camera models<\/a><\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/PointVisualization_complete.zip\">Pointset visualization<\/a> (<a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/Whiteboard_PointVis.zip\">Whiteboard<\/a>)<\/td><\/tr><tr><td>7th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Back-projection. Introduction to homographies.<\/a><\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/RANSAC_Multi.zip\">Multi-model fitting<\/a><\/td><\/tr><tr><td>8th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Homography Estimation. Data Normalization.<\/a><\/td><td>National holiday (break)<\/td><\/tr><tr><td>9th &#8211; fall break<\/td><td><\/td><td><\/td><\/tr><tr><td>10th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/lec01_camera.pdf\">Camera Calibration<\/a>, <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/10\/rq.pdf\">RQ-decomposition.<\/a><\/td><td><a href=\"https:\/\/github.com\/tarlanahad\/3D-CV-Study-Materials\/blob\/main\/Homography\/practice.ipynb\">Homography Estimation<\/a><\/td><\/tr><tr><td>11th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Introduction to Stereo Vision<\/a><\/td><td>Point registration: <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/pointreg-1.pdf\">theory<\/a> &amp; <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/PointRegistration.zip\">source code<\/a><\/td><\/tr><tr><td>12th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Stereo vision (cont)<\/a><\/td><td>Tomasi-Kanade factorization (<a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec03_multicamera.pdf\">theory<\/a>, source: <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/TomasiKanade_win.zip\">Win<\/a>,<a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/TomasiKanade_linux.zip\"> Linux<\/a>)<\/td><\/tr><tr><td>13th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Stereo vision (cont)<\/a><\/td><td><a href=\"https:\/\/github.com\/tarlanahad\/3D-CV-Study-Materials\/blob\/main\/Camera%20Calibration\/Practice.ipynb\">Camera Calibration<\/a><\/td><\/tr><tr><td>14th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec02_stereo.pdf\">Planar motion <\/a> <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/12\/numerical.pdf\">Numerical optimization<\/a><\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/12\/StereoTriangulation.zip\">Stereo pipeline<\/a><\/td><\/tr><tr><td>15th<\/td><td><a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/11\/lec03_multicamera.pdf\">Bundle adjustment.<\/a> <a href=\"https:\/\/cv.inf.elte.hu\/wp-content\/uploads\/2024\/12\/lec04_hardware.pdf\">Special hardwares.<\/a><\/td><td>(sources in Canvas)<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p><strong>Oral exams:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>18th December 11:00<\/li>\n\n\n\n<li>3rd January 10:00 (room 0-409, South Building)<\/li>\n\n\n\n<li>7th January 10:00 (0-412 R\u00e9nyi)<\/li>\n\n\n\n<li>17th January 10:00 (0-412 R\u00e9nyi)<\/li>\n\n\n\n<li>24th January 10:00 (0-412 R\u00e9nyi)<\/li>\n\n\n\n<li>31th January 16:00 (0-412 R\u00e9nyi)<\/li>\n<\/ul>\n\n\n\n<p><strong>Assignment presentations:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>16th December 16:00 (online)<\/li>\n\n\n\n<li>2nd January 16:00 (online)<\/li>\n\n\n\n<li>6th January 16:00 (online)<\/li>\n\n\n\n<li>16th January 16:00 (online)<\/li>\n\n\n\n<li>23rd January 16:00 (online)<\/li>\n\n\n\n<li>31th January 16:00 (in person, during the oral exam)<\/li>\n<\/ul>\n\n\n\n<p><strong>Topics for oral exams<\/strong><\/p>\n\n\n\n<p><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Basic estimation theory: solution for homogeneous and inhomogeneous linear system of equations.<\/li>\n\n\n\n<li>Robust fitting methods: the RANSAC method.<\/li>\n\n\n\n<li>Multi-model fitting: sequential RANSAC, MultiRANSAC<\/li>\n\n\n\n<li>Camera models: perspective camera, orthogonal projection, weak-perspective camera.<\/li>\n\n\n\n<li>Calibration of perspective camera using a spatial calibration object: Estimation and decomposition of projection matrix.<\/li>\n\n\n\n<li>Chessboard-based calibration of perspective cameras. Radial and tangential distortion.<\/li>\n\n\n\n<li>Plane-plane homography. Panoramic images by homographies.<\/li>\n\n\n\n<li>Estimation of homography. Data normalization.<\/li>\n\n\n\n<li>Basics of epipolar geometry. Essential and fundamental matrices. Rectification.<\/li>\n\n\n\n<li>Estimation of essential and fundamental matrices. Data normalization. Decomposition of essential matrix.<\/li>\n\n\n\n<li>Triangulation for both standard and general stereo vision.<\/li>\n\n\n\n<li>Stereo vision for planar motion.<\/li>\n\n\n\n<li>Tomasi-Kanade factorization: multi-view reconstruction by orthogonal and weak-perspective camera models.<\/li>\n\n\n\n<li>Reconstruction by merging stereo reconstructions. Registration of two point sets by a similarity transformation.<\/li>\n\n\n\n<li>Numerical optimization<\/li>\n\n\n\n<li>Numerical multi-view reconstruction: bundle adjustment.<\/li>\n\n\n\n<li><s>Tomasi-Kanade factorization with missing data.<\/s><\/li>\n\n\n\n<li><s>Reconstruction by special devices: laser scanning, depth camera, LiDAR<\/s>.<\/li>\n<\/ol>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><\/h3>\n","protected":false},"excerpt":{"rendered":"<p>Lecture: on Thursdays, 8:30-10:00, South Building, room 5-202 Practices (labs): on Thursdays, 10:15-11:45, South Building, room 2-219 (Graphics Laboratory) Rules&nbsp;for quizzes There are 10 quizzes in the semester.&nbsp; They should be filled in at the beginning of the laboratories, online attendance is not allowed.&nbsp; There are 5 questions in each quiz. You get&nbsp; At the [&hellip;]<\/p>\n","protected":false},"author":4,"featured_media":0,"parent":422,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"folder":[],"class_list":["post-425","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/cv.inf.elte.hu\/index.php\/wp-json\/wp\/v2\/pages\/425","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cv.inf.elte.hu\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/cv.inf.elte.hu\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/cv.inf.elte.hu\/index.php\/wp-json\/wp\/v2\/users\/4"}],"replies":[{"embeddable":true,"href":"https:\/\/cv.inf.elte.hu\/index.php\/wp-json\/wp\/v2\/comments?post=425"}],"version-history":[{"count":166,"href":"https:\/\/cv.inf.elte.hu\/index.php\/wp-json\/wp\/v2\/pages\/425\/revisions"}],"predecessor-version":[{"id":1378,"href":"https:\/\/cv.inf.elte.hu\/index.php\/wp-json\/wp\/v2\/pages\/425\/revisions\/1378"}],"up":[{"embeddable":true,"href":"https:\/\/cv.inf.elte.hu\/index.php\/wp-json\/wp\/v2\/pages\/422"}],"wp:attachment":[{"href":"https:\/\/cv.inf.elte.hu\/index.php\/wp-json\/wp\/v2\/media?parent=425"}],"wp:term":[{"taxonomy":"folder","embeddable":true,"href":"https:\/\/cv.inf.elte.hu\/index.php\/wp-json\/wp\/v2\/folder?post=425"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}