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Computer Vision Guest Lecture by Gregory Dudek: Ioannis Rekleitis
Computer Vision Guest Lecture by Gregory Dudek: Ioannis Rekleitis
Computer Vision Guest Lecture by Gregory Dudek: Ioannis Rekleitis
Guest Lecture by
Gregory Dudek
Ioannis Rekleitis
Why vision?
Problems:
• Slow.
• Data-heavy.
• Impossible.
• Mixes up many factors.
http://www.psychologie.tu-dresden.de/i1/kaw/diverses Material/www.illusionworks.com/html/art_of_shigeo_fukuda.html
http://www.psychologie.tu-dresden.de/i1/kaw/diverses Material/www.illusionworks.com/html/art_of_shigeo_fukuda.html
object
focal length
image plane
CS-417 Introduction to Robotics and Intelligent Systems 17
Coordinate Systems
pixel coordinates
u
v
y
x object coordinates
canonical axes z
at the C.O.P.
f
optical axis
u (col) Z
y
v
(row) x principal
point Add coordinate systems in order to
describe feature points...
CS-417 Introduction to Robotics and Intelligent Systems 18
Coordinate Systems
canonical axes z
canonical axes z
fX fY
x= Z y= Z
a nonlinear transformation
multiple cameras
multiple times
CS-417 Introduction to Robotics and Intelligent Systems 23
Robot vision sampler
A brief overview of robotic vision processing...
From I1 From I2
Fourier Tag
image plane p
f1
O1
image plane p
f1
p’1
O1 p’2
p’1
p’2 epipolar line
O1
x1 px2
O2
disparity: d=px1-px2
x2
Depth: D=fb/d
CS-417 Introduction to Robotics and Intelligent Systems 41
Stereo Vision: Pinhole
f
px1
a1 q1 q1
D p
x1
q2
a2
px2
q2
x2
• Definition:
– the pattern of apparent motion of objects, surfaces,
and edges in a visual scene caused by the relative
motion between an observer (an eye or a camera) and
the scene.
an “image cube”
I(x,y,t)
90 90 70 40 25
90 70 40 40 25
90 70 40 40 25
90 70 40 40 20
70 50 40 30 15
I(x,y,1)
90 90 70 40 25
90 70 40 40 25
90 70 40 40 25
90 70 40 40 20
70 50 40 30 15
I(0,0,1)
We can estimate things ... dI = I at (0,0,0)
dx x
CS-417 Introduction to Robotics and Intelligent Systems 59
Optical Flow
By measuring the direction that intensities are moving...
I(x,y,t)
I(x,y,0)
99 90 90 70 40
I(0,0,0)
95 90 70 40 40
90 90 70 40 40
90 90 70 40 40
90 70 50 40 30 I(2,-1,0)
I(x,y,1)
90 90 70 40 25
90 70 40 40 25
90 70 40 40 25
90 70 40 40 20
70 50 40 30 15
I(0,0,1)
We can estimate things like dI = I at (0,0,0) =
I
=
I(1,0,0) - I(0,0,0)
= -30
dx x x 1-0
CS-417 Introduction to Robotics and Intelligent Systems 60
Optical Flow
By measuring the direction that intensities are moving...
I(x,y,t)
I(x,y,0)
99 90 90 70 40
I(0,0,0)
95 90 70 40 40
90 90 70 40 40
90 90 70 40 40
90 70 50 40 30 I(2,-1,0)
I(x,y,1)
90 90 70 40 25
90 70 40 40 25
90 70 40 40 25
90 70 40 40 20
70 50 40 30 15
I(0,0,1)
We can estimate things like dI = I dI = I dI = I so...
CS-417 Introduction to Robotics and Intelligent Systems dx x
dy y dt t
61
Measuring Optical Flow
Let I(x,y,t) be the sequence of images. (x,y,t)
99 90 90 70 40
95 90 70 40 40
Simplest assumption (constant brightness constraint): 90 90 70 40 40
90 90 70 40 40
I(x,y,t) = I(x + dx, y + dy, t + dt) 90 70 50 40 30
-It = Ix dx dy
dt+ Iy dt intensity-flow equation
img1 img2
raw smoothed
optical for ten
flow iterations
• Visual Odometry
– Wheel slip detection on future Mars Rovers