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3D scene reconstruction and camera pose estimation given images from different views (Structure from Motion)

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SfM (Structure from Motion - Classical Approach)

3D scene reconstruction and camera pose estimation given images from different views (Structure from Motion)

Topics Covered

  • Feature Matching and Outlier rejection using - RANSAC
  • Estimating Fundamental Matrix
  • Estimating Essential Matrix from Fundamental Matrix
  • Estimate Camera Pose from Essential Matrix
  • Check for Cheirality Condition using - Triangulation
  • Perspective-n-Point
  • Bundle Adjustment