tailieunhanh - Single-view geometry

Our goal recovery of 3D structure, recall pinhole camera model, recovery of 3D structure, pinhole camera model, principal point,. is the main content of the lesson "Single-viewgeometry". Each of your content and references for additional lectures will serve the needs of learning and research. | Single-view geometry Odilon Redon, Cyclops, 1914 Our goal: Recovery of 3D structure Recovery of structure from one image is inherently ambiguous x X? X? X? Our goal: Recovery of 3D structure Recovery of structure from one image is inherently ambiguous Our goal: Recovery of 3D structure Recovery of structure from one image is inherently ambiguous Our goal: Recovery of 3D structure We will need multi-view geometry Recall: Pinhole camera model Principal axis: line from the camera center perpendicular to the image plane Normalized (camera) coordinate system: camera center is at the origin and the principal axis is the z-axis Recall: Pinhole camera model Principal point Principal point (p): point where principal axis intersects the image plane (origin of normalized coordinate system) Normalized coordinate system: origin is at the principal point Image coordinate system: origin is in the corner How to go from normalized coordinate system to image coordinate . | Single-view geometry Odilon Redon, Cyclops, 1914 Our goal: Recovery of 3D structure Recovery of structure from one image is inherently ambiguous x X? X? X? Our goal: Recovery of 3D structure Recovery of structure from one image is inherently ambiguous Our goal: Recovery of 3D structure Recovery of structure from one image is inherently ambiguous Our goal: Recovery of 3D structure We will need multi-view geometry Recall: Pinhole camera model Principal axis: line from the camera center perpendicular to the image plane Normalized (camera) coordinate system: camera center is at the origin and the principal axis is the z-axis Recall: Pinhole camera model Principal point Principal point (p): point where principal axis intersects the image plane (origin of normalized coordinate system) Normalized coordinate system: origin is at the principal point Image coordinate system: origin is in the corner How to go from normalized coordinate system to image coordinate system? Principal point offset principal point: Principal point offset calibration matrix principal point: Pixel coordinates mx pixels per meter in horizontal direction, my pixels per meter in vertical direction Pixel size: pixels/m m pixels To convert from metric image coordinates to pixel coordinates, we have to multiply the x, y coordinates by the x, y pixel magnification factors (pix/m) Beta_x, beta_y is the principal point coordinates in pixels Camera rotation and translation In general, the camera coordinate frame will be related to the world coordinate frame by a rotation and a translation coords. of point in camera frame coords. of camera center in world frame coords. of a point in world frame (nonhomogeneous) Camera rotation and translation In non-homogeneous coordinates: Note: C is the null space of the camera projection matrix (PC=0) Camera parameters Intrinsic parameters Principal point coordinates Focal length Pixel magnification factors Skew .