This schedule is preliminary and subject to change as the term
evolves.
A great (but optional) reference is the second edition of the "Multi-view Geometry" book by Hartley and Zisserman (H&Z).
| Lecture | Date | Topic | Additional Reading | Assignments | |
| WEEK 1 | |||||
| 1 | Tue 08/27/2024 | Introduction | |||
| 2 | Thu 08/29/2024 | Projective Geometry I | H&Z Chapter 2.1-2.3 | A0 Released; PS0 Released | |
| WEEK 2 | |||||
| 3 | Tue 09/03/2024 | Projective Geometry II | H&Z Chapter 2.4, 2.7 | ||
| 4 | Thu 09/05/2024 | Projective Geometry III | H&Z Chapter 3.1, 3.2, 3.4, 3.5 | A0 + PS0 Due | |
| WEEK 3 | |||||
| 5 | Tue 09/10/2024 | Homography from Correspondences | H&Z Chapter 4.1-4.5 | A1 + PS1 Released | |
| 6 | Thu 09/12/2024 | Camera Models | H&Z Chapter 6.1, 6.2 | ||
| WEEK 4 | |||||
| 7 | Tue 09/17/2024 | Affine Cameras and PnP | H&Z Chapter 6.3, 7 | PS1 Due | |
| 8 | Thu 09/19/2024 | Single-view Reconstruction | H&Z Chapter 3.6, 8 | ||
| WEEK 5 | |||||
| 9 | Tue 09/24/2024 | Two-view Geometry | H&Z Chapter 9.1-9.3, 9.6 | A1 Due, A2 + PS2 Released | |
| 10 | Thu 09/26/2024 | Two-view Reconstruction | H&Z Chapter 9.5, 10.1-10.4, 12.1-12.2 | ||
| WEEK 6 | |||||
| 11 | Tue 10/01/2024 | Two-view Reconstruction II |
H&Z Chapter 11.1-11.3, 11.6, 11.7, 11.9 Five-Point Motion Estimation Made Easy |
PS2 Due | |
| 12 | Thu 10/03/2024 | Two-view Rectification + Projects | H&Z Chapter 10.4, 10.5, 11.4 | ||
| WEEK 7 | |||||
| 13 | Tue 10/08/2024 | Auto-calibration | H&Z Chapter 19.1-19.3 | A2 Due; A3 + PS3 Released | |
| 14 | Thu 10/10/2024 | Non-linear Least Squares + Three-view Geometry |
Levenberg-Marquardt Algorithm H&Z Chapter 15.1 |
Project Proposals Due | |
| WEEK 8 - Fall Break | |||||
| WEEK 9 | |||||
| 15 | Tue 10/22/2024 | N-view Geometry + Affine SfM | H&Z Chapter 18.1, 18.2 | PS3 Due | |
| 16 | Thu 10/24/2024 | Non-rigid SfM | |||
| WEEK 10 | |||||
| 17 | Tue 10/29/2024 | SfM in Practice |
Structure-From-Motion Revisited Bundle Adjustment in the Large |
A3 Due; PS4 Released | |
| 18 | Thu 10/31/2024 | Dense Reconstruction from Multi-View | Multi-View Stereo: A Tutorial | ||
| WEEK 11 | |||||
| Tue 11/5/2024 | No class (Election day) | ||||
| 19 | Thu 11/07/2024 | Learning-based SfM |
SuperPoint: Self-Supervised Interest Point Detection and Description SuperGlue: Learning Feature Matching with Graph Neural Networks Pixel-Perfect Structure-from-Motion with Featuremetric Refinement |
PS4 Due | |
| WEEK 12 | |||||
| 20 | Tue 11/12/2024 | Parameterizing Rotations |
Least-squares estimation of transformation parameters between two point patterns On the Continuity of Rotation Representations in Neural Networks |
PS5 Out | |
| 21 | Thu 11/14/2024 | SLAM | |||
| WEEK 13 | |||||
| 22 | Tue 11/19/2024 | Conclusion | PS5 Due | ||
| Thu 11/21/2024 | Guest Lecture by Eric Brachmann | ||||
| WEEK 14 | |||||
| 23 | Tue 11/26/2024 | Guest Lecture by Vincent Leroy | |||
| 24 | Thu 11/28/2024 | No Class (Thanksgiving Break) | |||
| WEEK 15 | |||||
| 25 | Tue 12/03/2024 | Project Presentations: I | |||
| 25 | Thu 12/05/2024 | Project Presentations: II | |||
| WEEK 16 | |||||
| 27 | Thu 12/12/2024 | Project Reports Due | |||