Structure from motion
Structure from motion (SfM) is a photogrammetric range imaging technique for estimating three-dimensional structures from two-dimensional image sequences that may be coupled with local motion signals.
Camera resectioning
Camera resectioning is the process of estimating the parameters of a pinhole camera model approximating the camera that produced a given photograph or video; it determines which incoming light ray is
Triangulation (computer vision)
In computer vision, triangulation refers to the process of determining a point in 3D space given its projections onto two, or more, images. In order to solve this problem it is necessary to know the p
Vanishing point
A vanishing point is a point on the image plane of a perspective drawing where the two-dimensional perspective projections of mutually parallel lines in three-dimensional space appear to converge. Whe
3D pose estimation
3D pose estimation is a process of predicting the transformation of an object from a user-defined reference pose, given an image or a 3D scan. It arises in computer vision or robotics where the pose o
Fundamental matrix (computer vision)
In computer vision, the fundamental matrix is a 3×3 matrix which relates corresponding points in stereo images. In epipolar geometry, with homogeneous image coordinates, x and x′, of corresponding poi
Camera auto-calibration
Camera auto-calibration is the process of determining internal camera parameters directly from multiple uncalibrated images of unstructured scenes. In contrast to classic camera calibration, auto-cali
Stereo cameras
The stereo cameras approach is a method of distilling a noisy video signal into a coherent data set that a computer can begin to process into actionable symbolic objects, or abstractions. Stereo camer
Homography (computer vision)
In the field of computer vision, any two images of the same planar surface in space are related by a homography (assuming a pinhole camera model). This has many practical applications, such as image r
Correspondence problem
The correspondence problem refers to the problem of ascertaining which parts of one image correspond to which parts of another image, where differences are due to movement of the camera, the elapse of
Reprojection error
The reprojection error is a geometric error corresponding to the image distance between a projected point and a measured one. It is used to quantify how closely an estimate of a 3D point recreates the
Texture mapping unit
In computer graphics, a texture mapping unit (TMU) is a component in modern graphics processing units (GPUs). They are able to rotate, resize, and distort a bitmap image to be placed onto an arbitrary
Camera matrix
In computer vision a camera matrix or (camera) projection matrix is a matrix which describes the mapping of a pinhole camera from 3D points in the world to 2D points in an image. Let be a representati
Trifocal tensor
In computer vision, the trifocal tensor (also tritensor) is a 3×3×3 array of numbers (i.e., a tensor) that incorporates all projective geometric relationships among three views. It relates the coordin
Iterative closest point
Iterative closest point (ICP) is an algorithm employed to minimize the difference between two clouds of points. ICP is often used to reconstruct 2D or 3D surfaces from different scans, to localize rob
Direct linear transformation
Direct linear transformation (DLT) is an algorithm which solves a set of variables from a set of similarity relations: for where and are known vectors, denotes equality up to an unknown scalar multipl
Semi-global matching
Semi-global matching (SGM) is a computer vision algorithm for the estimation of a dense disparity map from a rectified stereo image pair, introduced in 2005 by Heiko Hirschmüller while working at the
Bundle adjustment
In photogrammetry and computer stereo vision, bundle adjustment is simultaneous refining of the 3D coordinates describing the scene geometry, the parameters of the relative motion, and the optical cha
Epipolar geometry
Epipolar geometry is the geometry of stereo vision. When two cameras view a 3D scene from two distinct positions, there are a number of geometric relations between the 3D points and their projections
Free-form deformation
In computer graphics, free-form deformation (FFD) is a geometric technique used to model simple deformations of rigid objects. It is based on the idea of enclosing an object within a cube or another h
Parallax
Parallax is a displacement or difference in the apparent position of an object viewed along two different lines of sight and is measured by the angle or semi-angle of inclination between those two lin
Computer stereo vision
Computer stereo vision is the extraction of 3D information from digital images, such as those obtained by a CCD camera. By comparing information about a scene from two vantage points, 3D information c
Laguerre formula
The Laguerre formula (named after Edmond Laguerre) provides the acute angle between two proper real lines, as follows: where:
* is the principal value of the complex logarithm
* is the cross-ratio o
Image rectification
Image rectification is a transformation process used to project images onto a common image plane. This process has several degrees of freedom and there are many strategies for transforming images to t
Pinhole camera model
The pinhole camera model describes the mathematical relationship between the coordinates of a point in three-dimensional space and its projection onto the image plane of an ideal pinhole camera, where
Random sample consensus
Random sample consensus (RANSAC) is an iterative method to estimate parameters of a mathematical model from a set of observed data that contains outliers, when outliers are to be accorded no influence
Pose (computing)
In the fields of computing and computer vision, pose (or spatial pose) represents the position and orientation of an object, usually in three dimensions. Poses are often stored internally as transform
Collinearity equation
The collinearity equations are a set of two equations, used in photogrammetry and computer stereo vision, to relate coordinates in a sensor plane (in two dimensions) to object coordinates (in three di
Essential matrix
In computer vision, the essential matrix is a matrix, that relates corresponding points in stereo images assuming that the cameras satisfy the pinhole camera model.
Visual hull
A visual hull is a geometric entity created by shape-from-silhouette 3D reconstruction technique introduced by A. Laurentini. This technique assumes the foreground object in an image can be separated
Eight-point algorithm
The eight-point algorithm is an algorithm used in computer vision to estimate the essential matrix or the fundamental matrix related to a stereo camera pair from a set of corresponding image points. I