This course deals with a central problem in vision -how to recover 3-D structure and motion from a collection of 2-D images-using techniques mainly from linear algebra and matrix theory. Topics included are: geometric image formation, camera models, image feature extraction and tracking, camera calibration, stereo, epipolar geometry, eight-point algorithm, 3D reconstruction from two or more images, motion estimation etc. The aim is to provide graduate students in EE, CS and ME with a solid theoretical and algorithmic background for research.