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Site Shop > An Invitation to 3-D Vision

Note: This is NOT an ideal beginner?s book on machine vision, and it was designed to be read by someone who is already grounded in the basics, as it takes things just that little bit further, into the advanced realm. Basics are covered, briefly.

This book gives senior undergraduate and beginning graduate students and researchers in computer vision, applied mathematics, computer graphics, and robotics a self-contained introduction to the geometry of 3D vision; that is the reconstruction of 3D models of objects from a collection of 2D images.

Part I provides background materials for the rest of the book. The two fundamental transformations, namely rigid body motion and perspective projection are introduced and image formation and feature extraction discussed.

Part II covers the classic theory of two view geometry based on the so-called epipolar constraint.

Part III shows that a more proper tool for studying the geometry of multiple views is the so- called rank considtion on the multiple view matrix.

Part IV develops practical reconstruction algorithms step by step as well as discusses possible extensions of the theory. Exercises are provided at the end of each chapter.

As is becoming the norm, example software is on a website, rather than included with the book.


1 - Introduction
2 - Representation of a 3D Moving Scene
3 - Image Formation
4 - Image Primitives and Correspondence
5 - Reconstruction from Two Calibrated Views
6 - Reconstruction from Two Uncalibrated Views
7 - Segmentation of Multiple Moving Objects from Two Views
8 - Multiple View Geometry of Points and Lines
9 - Extension to General Incidence Relations
10- Geometry and Reconstruction From Symmetry
11- Step by Step Building of a 3D Model from Images
12- Visual Feedback


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