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Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry...

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Camera Model & 3D Geometry

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Page 1: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Camera Model &

3D Geometry

Page 2: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Point of observation

Figures © Stephen E. Palmer, 2002

Dimensionality Reduction (3D to 2D)

3D world 2D image

Page 3: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 4: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 5: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 6: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 7: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 8: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 9: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 10: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 11: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 12: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 13: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 14: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 15: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 16: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 17: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 18: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 19: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 20: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 21: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 22: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 23: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 24: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 25: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 26: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 27: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 28: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 29: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 30: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 31: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 32: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 33: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 34: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 35: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 36: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 37: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 38: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 39: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 40: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 41: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 42: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 43: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Page 44: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Zoom in 2D

Zoom ? Resizing? Magnifying?

Page 45: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Zoom in 2D

Zoom ? Resizing? Magnifying?

Page 46: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Zoom in 3D

Zoom ? Resizing? Magnifying?

Page 47: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Zoom in stereo

Page 48: Camera Model & 3D Geometrycvlab.khu.ac.kr/DHLecture3.pdf · 2017. 3. 14. · Imaging Geometry Forward Projection onto image plane. 3D projected to 21) (x,y) Robert Collins CSE486

Zoom in stereo

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