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C V: C C M: Omputer Ision Omputation of Amera Atrix
C V: C C M: Omputer Ision Omputation of Amera Atrix
M ATRIX
IIT Kharagpur
Algorithm:
(i) Linear Solution: Compute an initial estimate of P using a linear algo-
rithm (DLT):
x 2i + y 2i + w 2i = 1 ∀i
lT PXj = 0 for j = 0, 1.
0
ŵ i w 0i dgeometric = dalgebraic
Depth of Points
We next consider what is the 3D depth of the points acquired
using a camera projection P.
what is w?
w = m3T (X̃ − C̃) can be interpreted as the dot product of the ray
from the camera centre C to the point X, with the principal ray
direction.
w can be interpreted as the depth of the point X from the camera
centre C in the direction of the principal ray.
sign(detM)w
depth(X; P) =
T||m3 ||
is the depth of the point X in front of the principal plane of
the camera.
sign(detM)w
depth(X; P) =
T||m3 ||
This gives us w
depth(X; P) T||m3 ||
w=
sign(detM)
If (detM) > 0, T = 1, and ||m3 || = 1, then
w = depth(X; P)
ŵd = f∆
Algebraic error i d alg (xi , PXi )2 being minimized is:
P
X X
(ŵ i d geom (xi , x̂i ))2 −→ f2 d geom (Xi , X0i )2
i i
Algorithm:
(i) Linear Solution: Compute an initial estimate of P using a linear algo-
rithm (DLT) as given in previous slide.
(ii) Minimize Geometric Error Using the linear estimate as the starting
point minimize the geometric error:
X X
d(x̃i , P̃X̃i )2 d(x̃i , x̂i )2
i i
where xi is the measured point and x̂i is the point PXi which is the
exact image of Xi under P.
where X̂i is the closest point in space that maps onto xi via
xi = PX̂i
1
0T −w i XiT yi XiT P
2
Ap = w i Xi T
0T −xi XiT
P = 0
3
−yi XiT T
xi Xi 0T P
P1
" # ! !
0T −w i XiT yi
Ap = + =0
w i XiT 0T P2 −x i
P1
" # ! !
0T −w i XiT yi
Ap = + =0
T
w i Xi 0T P2 −x i
For affine cameras, the algebraic error and geometric error are the
same:
d alg (xi , x̂i ) = d geom (xi , x̂i )
Geometric image distances can be minimized by a linear
algorithm.
Algorithm:
(i) Normalization: Normalized image points are x̃i = Txi , Normalized
space points are X̃i = UXi ,
(ii) DLT: Form the 2n × 8 matrix A8 by stacking equations generated
by each correspondence x̃i ↔ X̃i . Write p8 for the vectors containing the
entries of the matrix P.
X̃i 0T P̃1
T !
x̃ i
A8 p8 = b T 2 =
T
0 X̃i
P̃
ỹ i
The weights begin with low values and are increased at each
iteration of the estimation procedure.
The values of s and aspect ratio are drawn gently to their desired
values.
Finally these values may be clamped to their desired values for a
final estimation.
L(r ) = 1 + κ1 r + κ2 r 2 + κ3 r 3 + . . .