单影像与DLT.ppt

* * * * * * * * * * Single view measurements Forensic applications 190.6±2.9 cm 190.6±4.1 cm A. Criminisi, I. Reid, and A. Zisserman. Computing 3D euclidean distance from a single view. Technical Report OUEL 2158/98, Dept. Eng. Science, University of Oxford, 1998. Example courtesy of Antonio Criminisi La Flagellazione di Cristo (1460) Galleria Nazionale delle Marche by Piero della Francesca (1416-1492) http://www.robots.ox.ac.uk/~vgg/projects/SingleView/ More interesting stuff Criminisi demo http://www.robots.ox.ac.uk/~vgg/presentations/spie98/criminis/index.html work by Derek Hoiem on learning single view 3D structure and apps /~dhoiem/ similar work by Ashutosh Saxena on learning single view depth /~asaxena/learningdepth/ Next class Feature tracking and matching * * * * * * row 3 = x.(row 1)+y.(row 2) * * * * * * * * * * * * * * * * * * * * Single View MetrologyClass 3 3D photography course schedule(tentative) Lecture Exercise Sept 17 Introduction - Sept 24 Geometry Camera model Camera calibration Oct. 1 Single View Metrology Measuring in images Oct. 8 Feature Tracking/matching (Jan-Michael Frahm) Correspondence computation Oct. 15 Epipolar Geometry (David Gallup) F-matrix computation Oct. 22 Shape-from-Silhouettes Visual-hull computation Oct. 29 Stereo matching Project proposals Nov. 5 Structured light and active range sensing (TBD) Papers Nov. 12 Structure from motion Papers Nov. 19 Multi-view geometry and self-calibration Papers Nov. 26 Shape-from-X Papers Dec. 3 3D modeling and registration Papers Dec. 10 Appearance modeling and image-based rendering (TBD) Papers Dec. 17 Final project presentations Single View Metrology Measuring in a plane Need to compute H as well as uncertainty Direct Linear Transformation(DLT) Direct Linear Transformation(DLT) Equations are linear in h Only 2 out of 3 are linearly independent (indeed, 2 eq/pt) (only drop third row if wi’≠0) Holds for any homogeneous representation, e.g. (xi’,yi