/3dv_tutorial

An Invitation to 3D Vision: A Tutorial for Everyone

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An Invitation to 3D Vision: A Tutorial for Everyone

An Invitation to 3D Vision is an introductory tutorial on 3D vision (a.k.a. geometric vision or visual geometry or multi-view geometry). It aims to make beginners understand basic theory of 3D vision and implement their own applications using OpenCV. In addition to tutorial slides, example codes are provided in the purpose of education. They include simple but interesting and practical applications. The example codes are written as short as possible (mostly less than 100 lines) to be clear and easy to understand.

What does its name come from?

  • The main title, An Invitation to 3D Vision, came from a legendary book by Yi Ma, Stefano Soatto, Jana Kosecka, and Shankar S. Sastry. We wish that our tutorial will be the first gentle invitation card for beginners to 3D vision and its applications.
  • The subtitle, for everyone, was inspired from Prof. Kim's online lecture (in Korean). Our tutorial is also intended not only for students and researchers in academia, but also for hobbyists and developers in industries. We tried to describe important and typical problems and their solutions in OpenCV. We hope readers understand it easily without serious mathematical background.

Examples

Dependencies

  • OpenCV (> 3.0.0, 3-clause BSD License)
    • OpenCV is a base of all example codes for basic computer vision algorithms, linear algebra, image/video manipulation, and GUI.
  • Ceres Solver (3-clause BSD License): A numerical optimization library
    • Ceres Solver is additionally used by m-estimator, bundle adjustment, structure-from-motion, and visual odometry/SLAM.

New Version! Python Examples Added!

  • You can see the same examples as above in the following script.
  • We recommend running the examples in Anaconda.

Dependencies

It was tested in the following version.

  • OpenCV (4.2.0v)
  • Scipy (1.8.0v)
    • SciPy (pronounced “Sigh Pie”) is an open-source software for mathematics, science, and engineering.
  • Numpy (1.22.3v)
    • The fundamental package for scientific computing with Python
  • Open3D (0.13.0v)
    • Open3D is an open-source library that supports rapid development of software that deals with 3D data.

License

Authors

Acknowledgement

The authors thank the following contributors and projects.