EECE 5639 Computer Vision I

Lecture
Geometric and Coordinate Systems Transformation
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Euclidean (Rigid)

y y
θ
transform x’y’

)
1

ty

0
0 1 x tx x

equations matrix form

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Similarity (scaled Euclidean)

y y x’y’ S
θ
transform

)
1

ty

0
0 1 x tx x

equations matrix form

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 Af ne

y y
x’ y’
transform
1

0
0 1 x x

equations matrix form

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fi
Projective

y y
x’ y’
transform
1

0
0 1 x x
Note!

equations matrix form

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 Co-Vectors
l’
y T
x’

x l
Transforming line equations: x

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Summary of 2D Transformations

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Euclidean
Similarity
Affine
Projective
 Summary of 2D Transformations

from R.Szeliski
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 Transformation Groups

A mathematical group G is composed of a set of elements

and an associative operator * such that:

1) The set is closed under operator *

2) There exists an identity element I such that

3) Each element A has an inverse A-1 such that

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 Example of a Group
Claim: translations matrices form a group under composition
(matrix multiplication operator)

Group element: matrices of form:

Operator: matrix multiplication *

Note: matrix multiplication is indeed associative
A * (B * C) = (A * B) * C

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Translation Group (cont)

Verify: closed under composition

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Translation Group (cont)
Verify: existence of identity element

? ?

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Translation Group (cont)

Verify: existence of inverse for every element

? ?

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 Example2: Euclidean Group

Closed under composition

= =

Identity exists

Inverse Exists

Check it !

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 Transformation Groups
We have veri ed that translations form a group.

Why does it matter?

Groups are very well-behaved. When doing computations with

groups we can freely compose transformations and assume
inverses exist.

Example T1 state2 T2
state1 state3
?

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fi

 Transformation Groups
We have veri ed that translations form a group.

Why does it matter?

Groups are very well-behaved. When doing computations with

groups we can freely compose transformations and assume
inverses exist.

Inverse exists
T1 state2 T2-1
state1 state3
?

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fi

 Transformation Groups
We have veri ed that translations form a group.

Why does it matter?

Groups are very well-behaved. When doing computations with

groups we can freely compose transformations and assume
inverses exist.

Inverse exists Inverse exists

T1-1 state2 T2-1
state1 state3
?

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fi

 Transformation Groups
We have veri ed that translations form a group.

Why does it matter?

Groups are very well-behaved. When doing computations with

groups we can freely compose transformations and assume
inverses exist.

Inverse exists Inverse exists

T1-1 state2 T2-1
state1 state3
T1-1 * T2-1
closed under composition
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fi

Hierarchy of Transformations

projective

affine
subgroup
hierarchy
similarity

Euclidean

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Composition in a Hierarchy

projective
similarity * similarity = similarity
affine
similarity * affine = affine
similarity
Euclidean * affine = affine
Euclidean
any * projective = projective

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Pinhole Camera Model

(Camera Coordinates)

P
y
Y x p
X f

Z
O

•Non-linear equations
•Any point on the ray OP has image p !!

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3D to 2D Perspective Matrix Equation


(Camera Coordinates)

Using homogeneous coordinates:

X
x= f
Z
Y
y= f
Z

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Perspective Matrix Equation

(Camera Coordinates)

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 Image (Film) Coord.
World Coord.
Camera Coord.

Pixel Coors.
 More intrinsic parameters:
The CCD sensor is made of a rectangular grid nxm of photosensors
Each photosensor generates an analog signal that is digitized by a frame
grabber into an array of NxM pixels.

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Intrinsic Parameters

NxN pixels Imaged Grid

nxn CCD elements mxn CCD elements

n:m aspect ratio n:n aspect ratio
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 A more complete Mint

In practice, we will assume that there is a
1-1 correspondence between CCD elements and pixels.

0 y0
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x
u= 0 v= 0
z z

Where cx and cy are the coordinates of the image center

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PROBLEM: In general, the camera coordinate system is not aligned with the
world coordinate system

SOLUTION: Find a transformation between coordinate systems.

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!

 Coordinate Systems

World Camera Film Image

Coords. Coords. Coords. Coords.

Xw X x u
Yw Y y v
Zw Z

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 Coordinate Systems

World Camera Film Image

Coords. Coords. Coords. Coords.

Xw X x u
Yw Y y v
Zw Z

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 Coordinate Systems

World Camera Film Image

Coords. Coords. Coords. Coords.

Xw X x u
Yw Y y v
Zw Z

Rigid transformation: rotation & translation

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 3D Translation of Coordinate Systems

Translate by a vector t=(tx,ty,tz)’

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 3D Rotation of Coordinate Systems
CLOCKWISE Rotation around the coordinate axes (left hand):

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Example

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Example

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Example

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Example

R T

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Example

Expressed in the
current
First, translate W to C coordinate
system!

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 Example

Expressed in the
First, translate W to C current
coordinate
system!
T

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 Example

Next, rotate W’ around Zw, 90o CCW ( -90o, CW)

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 Example

Next, rotate W’ around Zw, 90o CCW ( -90o, CW)

Rz T

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 Example

Next, rotate W’’ around Xw, 90o CCW ( -90o, CW)

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 Example

Next, rotate W’’ around Xw, 90o CCW ( -90o, CW)

Rx Rz T

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Example

R T

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 Coordinate Systems

World Camera Film Image

Coords. Coords. Coords. Coords.

Xw X x u
Yw Y y v
Zw Z

Rigid transformation: rotation & translation

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Pinhole Camera Model


(World Coordinates)

P
y Zw

Y x p
X f
Xw
Z T Yw
R O

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