Week 11 - Two-view geometry

Estimating pose and 3D structure from point-correspondences

Lectures

Recommended reading

  • Szeliski: Ch 11.2-11.3.

Lab: Na?ve Visual Odometry

In this lab we will perform pose estimation as we did in a previous lab, but instead of relying on an apriori known map, we will instead create a 3D model of the scene using two-view geometry! This will allow us to do a very na?ve form for Visual Odometry (VO).

C++

You will find the lab at https://github.com/tek5030/lab-simple-vo.

Follow the lab guide in README.md.

Python

You will find the lab at https://github.com/tek5030/lab-simple-vo-py

Follow the lab guide in README.md.