[计算机视觉中的几何学.ppt

The cross ratio A Projective Invariant Something that does not change under projective transformations (including perspective projection) P1 P2 P3 P4 The cross-ratio of 4 collinear points Can permute the point ordering 4! = 24 different orders (but only 6 distinct values) This is the fundamental invariant of projective geometry Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile . Copyright 2004-2011 Aspose Pty Ltd. vZ r t b image cross ratio Measuring height B (bottom of object) T (top of object) R (reference point) ground plane H C scene cross ratio ? scene points represented as image points as R Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile . Copyright 2004-2011 Aspose Pty Ltd. Measuring height R H vz r b t image cross ratio H b0 t0 v vx vy vanishing line (horizon) Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile . Copyright 2004-2011 Aspose Pty Ltd. Measuring height vz r b t0 vx vy vanishing line (horizon) v t0 m0 What if the point on the ground plane b0 is not known? Here the guy is standing on the box, height of box is known Use one side of the box to help find b0 as shown above b0 t1 b1 Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile . Copyright 2004-2011 Aspose Pty Ltd. Computing (X,Y,Z) coordinates Okay, we know how to compute height (Z coords) how can we compute X, Y? Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile . Copyright 2004-2011 Aspose Pty Ltd. 3D Modeling from a photograph Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile . Copyright 2004-2011 Aspose Pty Ltd. Camera calibration Goal: estimate the camera parameters Version 1: solve for projection matrix Version 2: solve for camera parameters separately intrinsics (focal length, principle point, pixel size) extrinsics (rotation angles, translation) radial distortion Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile . Copyright 2004-