Contents

• Acknowledgments
• Notations
• Introduction
  • 3D from images
  • Overview
  
  
• Projective geometry
  • Projective geometry
    • The projective plane
    • Projective 3-space
    • Transformations
    • Conics and quadrics
  • The stratification of 3D geometry
    • Projective stratum
    • Affine stratum
    • Metric stratum
    • Euclidean stratum
    • Overview of the different strata
  • Conclusion
  
  
• Camera model and multiple view geometry
  • The camera model
    • A simple model
    • Intrinsic calibration
    • Camera motion
    • The projection matrix
    • Deviations from the camera model
  • Multi view geometry
    • Two view geometry
    • Three view geometry
    • Multi view geometry
  • Conclusion
  
  
• Relating images
  • Feature extraction and matching
    • Comparing image regions
    • Feature point extraction
    • Matching using affinely invariant regions
  • Two view geometry computation
    • Eight-point algorithm
    • Seven-point algorithm
    • More points...
    • Robust algorithm
    • Degenerate case
  • Three and four view geometry computation
  
  
• Structure and motion
  • Initial structure and motion
    • Initial frame
    • Initializing structure
  • Updating the structure and motion
    • projective pose estimation
    • Relating to other views
    • Refining and extending structure
  • Refining structure and motion
  • Dealing with dominant planes
    • Detecting dominant planes
    • Partial projective structure and motion recovery
    • Combined metric structure and motion recovery
  • Conclusion
  
  
• Self-calibration
  • Calibration
    • Scene knowledge
    • Camera knowledge
  • Self-calibration
    • A counting argument
    • Geometric interpretation of constraints
    • The image of the absolute conic
    • Self-calibration methods
    • Critical motion sequences
  • A practical approach to self-calibration
    • linear self-calibration
    • non-linear self-calibration refinement
    • Metric bundle adjustment
  • Conclusion
  
  
• Dense depth estimation
  • Image pair rectification
    • Planar rectification
    • Polar rectification
    • Examples
  • Stereo matching
    • Exploiting scene constraints
    • Constrained matching
  • Multi-view stereo
    • Correspondence Linking Algorithm
    • Some results
  • Conclusion
  
  
• Modeling
  • Surface model
    • Texture enhancement
    • Volumetric integration
  • Lightfield model
    • structure and motion
    • Lightfield modeling and rendering
    • Experiments
    • conclusion
  • Fusion of real and virtual scenes
    • Augmenting video footage
  • Conclusion
  
  
• Some results
  • Acquisition of 3D models from photographs
  • Acquisition of 3D models from pre-existing image sequences
  • Virtualizing archaeological sites
    • Virtualizing scenes
    • Reconstructing an overview model
    • Reconstructions at different scales
  • More applications in archaeology
    • 3D stratigraphy
    • Generating and testing building hypotheses
  • Architecture and heritage conservation
  • Planetary rover control
  • Conclusion
  
  
• Bundle adjustment
  • Levenberg-Marquardt minimization
    • Newton iteration
    • Levenberg-Marquardt iteration
  • Bundle adjustment
  
  
• Bibliography
• Curriculum Vitae
• About this document ...