A comprehensive curriculum on robust homography estimation in non-central vision systems.
Follow the 8-module journey from the axioms of projective geometry to the statistical guarantees of RANSAC and non-linear refinement.
Transitioning from Euclidean space to the projective plane $\mathbb{P}^2$ and homogeneous coordinates.
$\mathbb{P}^2$ · Homogeneous · InfinityUnderstanding the $3 \times 3$ matrix $H$ and its 8 degrees of freedom.
Matrix $H$ · 8 DOF · CollinearityThe Direct Linear Transformation algorithm and Singular Value Decomposition (SVD).
DLT · SVD · Least SquaresHartley normalization and why matrix conditioning matters for numerical stability.
Hartley · Conditioning · StabilityEliminating outliers and deriving statistical guarantees for model consensus.
Outliers · Consensus · $N$ IterationsNon-central vision models, Plücker coordinates, and multi-camera rigs.
GCM · Plücker · Non-CentralMinimal solvers for Generalized Motion and overdetermined precision in remote sensing.
16-Point · Sub-pixel · GECLevenberg-Marquardt optimization for minimizing geometric reprojection error.
LM · Geometric Error · OptimizationTesting the breaking point of deterministic CV and introducing deep learning alternatives.
Breaking Point · CNN · Neural Hint