Multi-View Geometry

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# Multi-View Geometry - PowerPoint PPT Presentation

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.

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## PowerPoint Slideshow about 'Multi-View Geometry' - doli

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Presentation Transcript
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

Y

M

Image plane

C

Z

v

X

Focal plane

m

u

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
• What cues in the image provide 3D information?
Visual cues

Merle Norman Cosmetics, Los Angeles

Visual cues
• Texture

The Visual Cliff, by William Vandivert, 1960

Visual cues
• Texture
• Focus

From The Art of Photography, Canon

Visual cues
• Texture
• Focus
• Motion
Visual cues
• Texture
• Focus
• Motion
• Shape From X
• X = shading, texture, focus, motion, ...
3D World Points
• Camera Centers
• Camera Orientations
Multi-View Geometry

Relates

3D World Points
• Camera Centers
• Camera Intrinsic Parameters
• Image Points
Multi-View Geometry

Relates

• Camera Orientations
Stereo

scene point

image plane

optical center

Stereo
• Basic Principle: Triangulation
• Gives reconstruction as intersection of two rays
• Requires
• calibration
• point correspondence
Stereo Constraints

p’

?

p

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

Epipolar Line

p’

Y2

X2

Z2

O2

Epipole

Stereo Constraints

M

Image plane

Y1

p

O1

Z1

X1

Focal plane