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