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