SFMedu: A Structure from Motion System for Education

Jianxiong Xiao

What it is

A lecture for teaching mutiple view 3D reconstruction with minimal prerequistic. This is created for a lecture at MIT 6.869 Advances in Computer Vision class as well as Princeton COS429: Computer Vision.

After this lecture, you should be able to

• Write your own structure from motion pipeline
• Implement a multiple view stereo system
• Know well about pinhole camera model
• Establish foundation to learn more multiple view geometry theories
• Know how to estimate the parameters for a model using linear system of equations
• Know how to solve non-linear least square problem in practice

Slide

• SFMedu.pptx
• SFMedu.pdf

Source Code for SFMedu - A structure from motion system for education

This MATLAB code demonstrates how a traditional structure from motion pipeline is done and how to compute a dense point cloud by matching propagation in a simplest way. Although it is for education purpose, it is implemented in a nice way that it actually works for real photos. It is just probably slower compared to more complicated system (e.g. Bundler).

• Download version 2 with significantly increase robustness
• README.txt

Slide

• homework at Princeton COS429: Computer Vision