计算机视觉中的几何学初步.pptVIP

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 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 Measuring height R H vz r b t image cross ratio H b0 t0 v vx vy vanishing line (horizon) 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 Computing (X,Y,Z) coordinates Okay, we know how to compute height (Z coords) how can we compute X, Y? 3D Modeling from a photograph 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 Vanishing points and projection matrix = vx (X vanishing point) Z 3 Y 2 , similarly, v π v π = = Not So Fast! We only know v’s up to a scale factor Can fully specify by providing 3 reference points Calibration using a reference object Place a known object in the scene identify correspondence between image and scene compute mapping from scene to image Issues must know geometry very accurately must know 3D-2D correspondence Chromaglyphs[*色度符号] Courtesy of Bruce Culbertson, HP Labs /personal/Bruce_Culbertson/ibr98/chromagl.htm Estimating the projection matrix Place a known object in the scene identify correspondence between image and scene compute mapping from scene to image Direct linear calibration Direct linear cal