Relative Orientation, Fundamental and Essential Matrix (Cyrill Stachniss)

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Relative Orientation of the Image Pair, Fundamental and Essential Matrix
Cyrill Stachniss, Spring 2020

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Thanks for the simplified explanations! Your channel is really helpful for anyone wanting to grasp the key concepts of computer vision and robotics quickly. Greatly appreciate your initiative.

asimukaye

Relative Orientation: 00:00 to 22:05
Fundamental Matrix: 22:05 to 44:40
Essential Matrix: 44:40 to 51:07
Popular parameterizations for the relative orientation: 51:07 to

pratikkumarbulani

thanks for making this nice explanation public and freely accessible

nigelpluto

Thanks so much for your crisp explanation!

gintonic

Thank you for this amazing video. I do have a question though. At 32:29, when you describe that both expressions are the same, where does the x transpose come from?
Thanks a lot

bobklepper

I thought if we have the translation matrix, we would know the distance between 2 cameras. However, I forgot about the lambda property of the homogeneous coordinates. Thank you for showing that epipolar axis only shows the direction, not the length between 2 camera centers.

letatanu

Thank you Professor! That's really useful for me

vinhlai

12:02 In three dimensional world, don't we need three parameters for the direction vectors like 'B'?
I'm not sure why in the video (and on the slides), the professor says only 2 params! Would greatly appreciate it if someone can clarify.

milan_shah

I dont understand why in not calibrated case we have 15 params for AO.
I dont get the projective transform part in relation to a pair of cameras.
Can you please specify which specific params can't be solved, and why?

BennyRadon

At 21:17 I think your slide is wrong. The 5 and the 7 on the top line should be swapped.

alanjohnstone

For creating the fundamental matrix, you are using K invert. But, K is a 3*4 matrix. How it can have an invert?

mostafaahmadi

Is this applicable only for camera pair or camera lidar also?!

barath_

This mysterious 7 dof you can extract which is explained by the fact that 22 - 15 = 7... I don't understand what the 7 dof are.

xephyr

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