TEK5030 - Maskinsyn

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

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.