ppt课件-invariants- u m d c s department（不变量- u m d c s部门）.pptVIP

Invariants (continued) Summary Rigid rotation is 3x3 orthonormal matrix. 3-D Translation is 3x4 matrix. 3-D Translation + Rotation Scaled Orthographic Projection: Remove row three and allow scaling. Planar Object, remove column 3. Planar Invariants Perspective Projection Problem: perspective is non-linear. Solution: Homogenous coordinates. Represent points in plane as (x,y,w) (x,y,w), (kx, ky, kw), (x/w, y/w, 1) represent same point. If we think of these as points in 3D, they lie on a line through origin. Set of 3D points that project to same 2D point. Perspective motion and projection For P