Multi view geometry
Download
1 / 29

Multi-View Geometry - PowerPoint PPT Presentation


  • 130 Views
  • Updated On :

Multi-View Geometry. Review: Pinhole Camera. Review: Perspective Projection. Review: Perspective Projection. Points go to Points Lines go to Lines Planes go to whole image or Half-planes Polygons go to Polygons. Perspective cues. Perspective cues. Perspective cues.

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'Multi-View Geometry' - doli


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript



Review perspective projection1
Review: Perspective Projection

  • Points go to Points

  • Lines go to Lines

  • Planes go to whole image or Half-planes

  • Polygons go to Polygons





Review intrinsic camera parameters
Review: Intrinsic Camera Parameters

Y

M

Image plane

C

Z

v

X

Focal plane

m

u


Review extrinsic parameters
Review: Extrinsic Parameters

Y

M

Image plane

Y

C

Z

v

X

X

Z

Focal plane

m

u

By Rigid Body Transformation:


Recovering 3d from images
Recovering 3D from images

  • What cues in the image provide 3D information?


Visual cues
Visual cues

  • Shading

Merle Norman Cosmetics, Los Angeles


Visual cues1
Visual cues

  • Shading

  • Texture

The Visual Cliff, by William Vandivert, 1960


Visual cues2
Visual cues

  • Shading

  • Texture

  • Focus

From The Art of Photography, Canon


Visual cues3
Visual cues

  • Shading

  • Texture

  • Focus

  • Motion


Visual cues4
Visual cues

  • Shading

  • Texture

  • Focus

  • Motion

  • Shape From X

    • X = shading, texture, focus, motion, ...


Multi view geometry1

  • Camera Centers

  • Camera Orientations

Multi-View Geometry

Relates


Multi view geometry2

  • Camera Centers

  • Camera Intrinsic Parameters

  • Image Points

Multi-View Geometry

Relates

  • Camera Orientations


Stereo
Stereo

scene point

image plane

optical center


Stereo1
Stereo

  • Basic Principle: Triangulation

    • Gives reconstruction as intersection of two rays

  • Requires

    • calibration

    • point correspondence


Stereo constraints
Stereo Constraints

p’

?

p

Given p in left image, where can the corresponding point p’in right image be?


Stereo constraints1

Epipolar Line

p’

Y2

X2

Z2

O2

Epipole

Stereo Constraints

M

Image plane

Y1

p

O1

Z1

X1

Focal plane



From geometry to algebra

P

p

p’

O’

O

From Geometry to Algebra


From geometry to algebra1

P

p

p’

O’

O

From Geometry to Algebra


Linear Constraint:Should be able to express as matrix multiplication.






ad