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04/17/2013

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# 1 EXCERCICES

Excercices and Questions N˚ 1
Questions
1. What are the main image’s characteristics ? 2. What are the main intrinsic parameters of a camera ? Give a physical explanation for each. 3. What are the normalized and image points ? Give analytical expressions. 4. What does mean "perspective projection", "orthographic projection", "paraperspective projection" ?

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1.1

Excercices
Linear model

Consider one 3D point m = (X, Y, Z )T , mn = (xn , yn , 1)T the corresponding normalized point, and mp = (xp , yp , 1)T = (u, v, 1)T the corresponding image point.

Figure 1 – Perspective projection

Demonstrate that we can write a quasi-linear relation of the projection of the point m = (X, Y, Z )T in an image point mp = (xp , yp , 1)T = (u, v, 1)T , of the form :

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m2.2 .2 Non linear minimization criteria α u 0 u0 u    0 αv v0  · v = s· 0 0 1 1     I3×3 O3×1 · RO O1×3 c c tO 1  X  Y   ·  Z  1  (1) where : – c RO orientation matrix of the object frame in the camera frame.1 . you will study one method to obtain this initial value of the paremeters.4 . . u0 .2 Non linear minimization criteria Can you formulate one optimization criteria in order to determinate the values of the parameters of the model ? From the number of equations. m1.4 = 1 deﬁne a linear method to estimate (m1. v0 ) ? What are the variables. . In the next subsection. 1. m1.3 .1 .3 Linear parameter relations Consider the projection matrix M computed numerically solution of the following system :     Xk uk  Yk   (2) ∀k = 1 . can you formalize the identiﬁcation process and experimental setup ? The criteria will be non-linear. m3. 2 .1 EXCERCICES 1. s ·  vk  = M ·   Zk  1 1 Can you express the parameters of the model (1) in function of the knowledge of the elements mi. m3.1 . m2. n. m3.2 . It can be solved only using an iterative process which must be well initialized. what are the parameters ? 1. m2.4 Non linear estimation of M Why the matrix M is deﬁned to a scale factor ? Fixing m3. m1. m2.3 )T . – c tO position matrix of the object frame in the camera frame Can you interpret the quantities (αu . αv .4 .j of the matrix M ? 1.3 .2 .

5 Solution of linear system 1.5 Solution of linear system Demonstrate that we need at least 6 noncoplanar points to ﬁnd a unique solution of the linear solution.1 EXCERCICES 1. 3 .

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