An Invitation to 3D Vision （计算机图像视觉经典书）

collection of 2-D images. The only prerequisite for this book is a course in

linear algebra at the undergraduate level.

in the past on a geometric approach to computer vision: the ones that

were published in mid 1990’s on the geometry of two views (e.g., Faugeras

1993, Weng, Ahuja and Huang 1993, Maybank 1993), and the ones that

were recently published on the geometry of multiple views (e.g., Hartley

and Zisserman 2000, Faugeras, Luong and Papadopoulo 2001).

majority of those manuscripts were to summarize up to date research re-

preparation: Ponce and Forsyth (expected in 2002), Pollefeys and van Gool (expected

in 2002).

viii Preface

also builds on a homogeneous terminology a solid analytical foundation for

future research in this young field.

provides background materials for the rest of the book. Two fundamental

transformations in multiple view geometry, namely the rigid-body motion

successful in the two view case, Part III shows that a more proper tool

for studying the geometry of multiple views is the so-called rank condi-

tion on the multiple view matrix, which trivially implies all the constraints

among multiple images that are known todate, in particular the epipolar

constraint. The theory culminates in Chapter 10 with a unified theorem

on a rank condition for arbitrarily mixed point, line and plane features. It

captures all possible constraints among multiple images of these geometric

primitives, and serves as a key to both geometric analysis and algorithmic

development. Based on the theory and conceptual algorithms developed in

semester course at the University of California at Berkeley, the University

of Illinois at Urbana-Champaign, and the George Mason University, and as

a two-quater course at the University of California at Los Angles. There is

apparantly adequate material for lectures of one and a half semester or two

quaters. Advanced topics suggested in Part IV or chosen by the instructor

can be added to the second half of the second semester if a two-semester

course is offered. Given below are some suggestions for course development

based on this book:

in each chapter; 2. programming exercises that help student grasp the

algorithms developed in each chapter; 3. exercises that guide student to