Computer Vision
CS 554

Fall 2006

Department of Computer Engineering, Bilkent University


Instructor: Pinar Duygulu
Office :  EA 433
e-mail : duygulu[at]
Phone :  (312) 290 31 43
Office hours:  by appointment..
Course web page:
Textbook: Computer Vision - A modern Aproach  by David A. Forsyth & Jean Ponce, Prentice Hall, Ed. 1, 2002
Other textbooks:
Computer Vision by Dana Ballard and Chris Brown (available online)
Digital Image Processing by Rafael Gonzalez and Richard Woods
Computer Vision by Linda Shapiro and George Stockman
Related Material:
Also other complementary articles that will be made available
Previous course materials are avilable at
Time & Location: Wednesdays 9:40-11:30, Fridays 11:40-12:30, EA 502
Course Description Basic concepts in computational vision. Relation to human visual perception. The analysis and understanding of image and video data. Mathematical foundations, image formation and representation, segmentation, feature extraction, contour and region analysis, camera geometry and calibration, stereo, motion, 3-D reconstruction, object and scene recognition, object and people tracking, human activity recognition and inference.
Prerequisites:Knowledge of linear algebra and calculus, probability and statistics
Introduction,  Color and Light, Linear Filters, Texture,  Edge detection,  Interest Points, Cameras, Multi-view Geometry, Stereopsis,  Motion,  Segmentation,  Object recognition,  Face recognition,  Image and Vieo Databases
Reading Assignments 10%
Programming Assignments 30%
Paper Presentations 15%
Term Project 40%
Participation 5%



September 13


September 15

Image Processing
September 20,22

  • Topics
    • Image representation, Point processing, Blob processing, Applications of binary image analysis,Thresholding,Connected component analysis,Mathematical morphology,Region propoerties
  • Readings:
    • Chapter 3 from Shapiro&Stockman
    • Chapter 3 from Gonzales & Wood
  • Links

Linear Filters
September 27, 29
(slides1, slides2)

  • Topics
    • Linear filters, convolution, smoothing, derivatives, Fourier transform, sampling and aliazing, gaussian pyramids
  • Readings
    • Chapter 7 from Forsyth&Ponce
    • Notes on masks, by Shapiro & Stockman
    • Computer vision for interactive computer graphics,W. T. Freeman, D. Anderson, P. Beardsley, C. Dodge, H. Kage, K. Kyuma, Y. Miyake, M. Roth, K. Tanaka, C. Weissman, W. Yerazunis,  in IEEE Computer Graphics and Applications, volume 18, number 3, May--June, pp. 42-53, 1998.
  • Links

Edge Detection
October 4

  • Topics
    • Derivatives, Edge detection, Hough Transform 
  • Readings
    • Chapter 8 from Forsyth&Ponce
    • A Computational Approach to Edge Detection, J. Canny, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol 8, No. 6, Nov 1986.
    • Chapter 4 from Olivier Faugeras' book: Three-Dimensional Computer Vision, MIT Press, 1993
  • Links

October 4

  • Topics
    • Texture analysis and synthesis 

Interest Points

October 6

  • Topics
    • Harris Detector, Local invariant points, SIFT descriptors

Radiometry and Color
October 11
(slides1, slides2)

Student presentations
October 13

Cameras and  Calibration
October 18
(slides1, slides2)

Student presentations
October 20

Multi view Geometry
November 1

  • Topics
    • Epipolar geometry
Student presentations
November 3

November 8

  • Topics
    • Stereopsis, Matching, Reconstruction 
  • Readings
    • Chapter 11 from Forsyth&Ponce
Student presentations
November 10


November 15

  • Topics
    • Optical flow, structure from motion, Tracking
  • Readings
Student presentations
November 17

Noveber 22

Student presentations
November 24

November 29

  • Topics
    • Segmentation, Grouping, Fitting
Student presentations
December 1

December 6

  • Topics
    • Model based and template matching based methods for recognition
Student presentations
December 8

Image and Video Databases
December 13

  • Topics
    • Retrieval, browsing and other novel applications on large datasests

Student presentations
December 15

Student presentations
December 20

Student presentations
December 22



Important notes about evaluation:

        There will be three reading assignments and three programming assignments      
        Late homeworks are not accepted     
        All programming assignments are due midnight and will be sent by e-mail
            In your e-mail use the following format in the title
            CS554 - Programming assignment #
            Your programming assignmenments should be sent as a tar ball in the following format
        All reading assignments are due before the lecture hours and will be given to the instructor as printed out
            Reading assignments will be summary of the given paper. It should be about one page,
            and you should explain the main contributions and the important points of the proposed
            methods in your own words. Do not include any figures or formulas. Do not write the values
            of parameters or thresholds unless they are very important. Assume that you are submitting
            one or two pages summary of your paper to a conference.

    The project may be
        An original implementation of a new or published idea,
        A detailed emprical evaluation and comparison of the existing implementations of two or more methods,     
    You will work in groups of two or three
    You are required to write a proposal, progress report, final report, and do a demonstration and a presentation 
        Project proposal will be a short description of the problem you would like to tackle, objective of the study,
         proposed algorithms, hardware/software tools and data that you plan to utilize, and evaluation strategies
        that you plan to use. Also provide a short list of related references.
        Progress report will describe your progress in the project and your plans for the rest of the semester
        Final report will be a well-written report which provides proper motivation for the task, proper citation
        and discussion of related literature, proper explanation of the details of the approach and implementation
        strategies, proper performance evaluation, and detailed discussion of the results. You should highlight
        your contributions and conclusions.
            Final report guidelines:
            Follow IEEE two-column format as shown in the example and the format definition table and glossary.
            The page limit is 6 pages.
            The report should not have any page numbers, headers or footers.
            You can use IEEE's LaTeX template or Word template. (LaTeX users: Be sure to use the template's conference mode.)
            PDF submission is recommended.
will be in the form of poster session and each team will show their contributions on a poster
        which will fit to a board of approximately 1m X 1m

    Your presentations will be evaluated according to the following criteria. Please, consider them in preparing your presentations:
        Understanding of the topic - how confident are you with the paper that you present
        Review of the related work - not just mentioning but by reading some of them to understand and relate to your paper
        Giving an overview of the paper -  the main contributions of the paper, and an overview of the approach
        Explaining the details - understanding and explaining the formulas and methods given in the paper
        Presentation - in general how well you are prepared to give the talk
        Use of visual material when available