392111 3D Vision (Von der Perzeption zur semantischen Szenenanalyse) (V) (WiSe 2012/2013)
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For an english version of the content of this lecture, please see below.
3D Bildverarbeitung ist im Bereich Robotik und Mensch-Maschine-Interaktion in den letzten Jahren immer wichtiger geworden. Insbesondere die Entwicklung der Kinect-Kamera, hat ein breites Interesse an 3D Bildverarbeitungsalgorithmen geweckt.
Das Ziel dieser Vorlesung ist es einen breiten Überblick über Grundlagen der 3D Perzeption und über neue 3D Bildverarbeitungsalgorithmen zu geben. Die in der Vorlesung vorgestellten Verfahren reichen von der Extraktion lokaler Features bis zur kompletten Analyse einer 3D Szene.
Themen, die in der Veranstaltung behandelt werden:
- Perzeption
- Epipolargeometrie
- Time-of-Flight Prinzip
- Structured-Light
- Oberflächenmerkmale
- Differentialgeometrie
- Berechnung von Normalen und Krümmungen
- Anwendung: Ebenenextraktion
- lokale 3D Punkt-Deskriptoren
- histogrammbasiert (SpinImages, 3D Shape Context, NARF, FPFH, ...)
- signaturbasiert (Structural Indexing, Point Signatures, ...)
- Anwendungen: Objektdetektion, Registrierung, Szenenklassifikation
- globale Objektdeskriptoren
- Canonical models
- ...
Erster Veranstaltungstermin: 10.10.2012
DATE TOPIC SLIDES 10.10.2012 Introduction [pdf] 17.10.2012 Perception: Stereo Vision, Epipolar Geometry [pdf] 24.10.2012 Perception: Structured Light Principle, Time-of-Flight Principle [sl: pdf, tof: pdf] 31.10.2012 Surface Characteristics: Normal and Curvature Estimation [pdf] 14.11.2012 Histogram based Local Descriptors Capturing Point Densities: SpinImages, 3D Shape Context, Intrinsic Shape Signatures [pdf] 28.11.2012 Histogram based Local Descriptors Capturing e.g. Curvature Characteristics: TRIFT, PFH, FPFH [pdf] 05.12.2012 Signature based Local Descriptors: Structural Indexing, 3D Point's Fingerprint, Point Signature, Surface Signature, NARF [pdf] 12.12.2012 Hybrid Descriptors: Combining Signatures and Histograms (e.g. SHOT) and Key Point Detectors [hyprid: pdf, keypoint: pdf] 19.12.2012 Bag of Local Features Approach [pdf] 09.01.2013 Statistic based Global Features (GFPFH, VFH, 3D Spatial Feature Vector) [pdf] 16.01.2013 Global Descriptors for Category Learning [pdf] 23./30.01.2013 Summary of Lecture [pdf]
Bibliography
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- Jiang & Bunke, Dreidimensionales Computersehen, Springer 1997.
- Szeliski, Computer Vision, 2011.
- Forsyth & Ponce, Computer Vision - A Modern Approach, 2003.
- Harley & Zisserman, Multiple View Geometry, 2000.
Teaching staff
Dates ( Calendar view )
| Frequency | Weekday | Time | Format / Place | Period | |
|---|---|---|---|---|---|
| weekly | Mi | 16-18 | U10-146 | 08.10.2012-01.02.2013 | am 30.01.2013 findet die Veranstaltung in R2-149 statt! |
| one-time | Mi | 16-18 | R2-149 | 30.01.2013 |
Subject assignments
| Degree programme/academic programme | Validity | Variant | Subdivision | Status | Semester | LP | |
|---|---|---|---|---|---|---|---|
| Bioinformatik und Genomforschung / Bachelor | (Enrollment until SoSe 2011) | Individueller Ergänzungsber | Wahl | 5. | 3 | unbenotet | |
| Intelligente Systeme / Master | (Enrollment until SoSe 2012) | Individuelle Ergänzung | Wahl | 1. 3. | 3 | unbenotet | |
| Kognitive Informatik / Bachelor | (Enrollment until SoSe 2011) | Individueller Ergänzungsb | Wahl | 5. | 3 | unbenotet | |
| Naturwissenschaftliche Informatik / Bachelor | (Enrollment until SoSe 2011) | Individueller Ergänzungsbereic | Wahl | 5. | 3 | unbenotet | |
| Naturwissenschaftliche Informatik / Master | (Enrollment until SoSe 2012) | Individuelle Ergänzung | Wahl | 1. 3. | 3 | unbenotet |
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