# Introduction

Hey there! 👋 I’m currently a master student of Robotics at UIUC.

The motivation for this book came out of my desire for a gentle introduction to 3D vision.

During the process of learning 3D vision, I found it hard to understand and connect some essential components. Even though abundant resources has been out there in the Internet, I just feel overwhelmed and frustrated when I was new to this field. This led me to ponder if there is a better way to organize, to provide beginners a smoother learning path.

This book is still working in progress. Please feel free to reach out me for any questions and welcome to point out mistakes in article. My email:
[e-mail]

## Types of Reconstruction Problem

| Algo | 3D World Points | Intrinsic Matrix $K$ | Extrinsic Matrix $[R ~~~ t]$ | Projection Matrix $M=K[R ~~~ t]$ | View |
| --- | --- | --- | --- | --- |--- |
| [Camera Pose Estimation<br>(by DLT)](https://hackmd.io/@jackyyeh/BJxMZtUUT/%2Fo0UqmikhQdKBHLiaY5FV-Q) | known | - | - | ==estimate== | single view |
| [Camera Pose Estimation<br>(by PnP)](https://hackmd.io/@jackyyeh/BJxMZtUUT/%2FXoqLoirfTHmv0RN7n9e-Cw) | known | known | ==estimate== | - | single view |
| [Camera Pose Estimation<br>(by Essential matrix decomposition )](https://hackmd.io/@jackyyeh/BJxMZtUUT/%2FemuCyxF8QQiGdeZkvmpj3g) | - | known |==estimate==| - | two view |
| [Triangulation](https://hackmd.io/@jackyyeh/BJxMZtUUT/%2FmrBvdst4SyiRvc68LK5qnA) | ==estimate==| known|known| known | two view |
| [Structure from motion](https://hackmd.io/@jackyyeh/BJxMZtUUT/%2FDMdTrMVBSdyXhk5GsNSXtg) | ==estimate==| - | -| ==estimate== | multi view |

## Acknowledgement
This book is largely based on the following great material:
1. [Standford cs231a course notes](https://web.stanford.edu/class/cs231a/course_notes.html)
3. [python-visual-odometry](https://github.com/polygon-software/python-visual-odometry/tree/master)
4. [3dv_tutorial](https://github.com/mint-lab/3dv_tutorial/tree/master)
5. [3D reconstruction course by CV-XUEBA (in Chinese)](https://cv-xueba.club/pages/courses/cv_sfm.html)