1. Camera Model + Projective Geometry

• Digital Image의 특성
  • 해상도, 컬러 채널, 대비
  • Point, Line, Edge, Blob
• 카메라 / 렌즈 하드웨어
  • Sensor Resolution, Aperture, ISO, Exposure, Shutter Speed
  • Noise model, convolution, filtering, Fourier analysis
• Pinhole 카메라 모델, 왜곡, 캘리브레이션
  • Pinhole 카메라 모델의 영상 투영
  • Radial / Tangential 왜곡 모델
  • Zhang 카메라 캘리브레이션
• Projective Geometry Homogenous Coordinates
  • Vanishing point
  • Euler Angle, Axis-angle, Quaternion, SO(3), SE(3)
  • Transformation

2. Feature Detection / Descriptor / Matching

• Feature Detector
  • Properties of corner, Scale space
  • Harris / Shi-Tomasi
  • SIFT / SURF
  • FAST / oFAST (ORB)
• Feature Descriptor
  • SIFT
  • BRIEF / rBRIEF (ORB)
• Feature Matching
  • Brute-Force matching
  • FLANN - Nearest Neighbour
  • LSH / Multi-probe LSH
  • HBST
• Optical flow, KLT Tracker
  • Horn & Schunck L2 / LK / L1 Reg Optical flow
  • KLT Tracker

3. Multiview geometry

• Epipolar geometry (2D-2D)
  • Essential / Fundamental Matrix (5/8-point)
  • Singular Value Decomposition (SVD)
  • Homography Transformation (4-point)
• Multiple view (2D-3D)
  • Perspective-n-Points Problem (PnP)
  • Triangulation / Disparity
  • Iterative Closet Points Problem (ICP)
• Outlier Rejection
  • RANSAC
  • Robust Estimator / Maximum consensus problem
  • Convex relaxation
• Bundle adjustment / Structure from Motion
  • Numerical Methods and optimisation
  • Gauss-Newton, Levenberg-Marquardt algorithm
  • Gradient Descent algorithm
  • Least squares problems / non-linear solvers

4. Simultaneous Localization and Mapping

• Introduction to SLAM
  • Definition of SLAM
  • Difference between SLAM, SfM, Odometry, Path planning, Image stitching
  • Indirect (feature-based) vs Direct-based SLAM
• Loop closure / Bag of Visual Words
  • Descriptor database formulation / query
  • kd-tree
• Mapping
  • Stereo matching
  • OctoMap
  • TSDF
  • Voxel Hashing