三维视觉

机器人三维视觉基础：相机模型、多视图几何、运动恢复结构、NeRF 和 3D Gaussian Splatting。

Learning Objectives

1. Camera Models

1.1 Pinhole Model

1.2 Fisheye & Omnidirectional

1.3 Intrinsic & Extrinsic Parameters

2. Multi-View Geometry

2.1 Fundamental & Essential Matrix

2.2 Triangulation

3. Structure from Motion (SfM)

3.1 Feature-Based SfM Pipeline

3.2 COLMAP

4. Visual Odometry

4.1 Monocular VO

4.2 Stereo VO

5. Neural 3D Reconstruction

5.1 NeRF (Neural Radiance Fields)

5.2 3D Gaussian Splatting

6. 3D Vision in Robotics

Exercises

References