TEK5030 - Vår 2023

Week 8 - 3D pose and Lie theory in practice

How do we work with the orientation and position of a camera in practice?

Lectures

Trym was unfortunately not able to update the Lie lectures this week, so we are using the old lectures given only in Norwegian. Let him know if anyone would like to discuss these lectures in English before Friday!

  • 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.