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Linear cameras
• What is a perspective camera?• Reguli• Linear congruences• Direct and inverse projections• Multi-view geometry
Présentations mercredi 26 mai de 9h30 à midi, salle U/V
Planches :
– http://www.di.ens.fr/~ponce/geomvis/lect6.ppt
– http://www.di.ens.fr/~ponce/geomvis/lect6.pdf
П1
Chasles’ absolute conic: x12+x2
2+x32 = 0, x4 = 0.
Kruppa (1913); Maybank & Faugeras (1992)
Triggs (1997);Pollefeys et al. (1998,2002)
, u0, v0
The absolute quadric u0 = v0 = 0The absolute quadratic complex 2 = 2, = 0
u0
v0
kl
f
x’ ¼ P ( H H-1 ) xH = [ X y ]
Relation between K, , and *
» = u1 »1 + u2 »2 + u3 »3
Line bundles
c
x
3
1
2
» = u1 »1 + u2 »2 + u3 »3
y = u1 y1 + u2 y2 + u3 y3
y2
c
r
x
y
y1
3
1
2
y3
Line bundles
» = X u , where X2R6£3, u2R3
y = Y u , where Y2R4£3, u2R3
y2
c
r
x
y
y1
3
1
2
y3
Line bundles
u = Yzy y = Yz
y [(c Ç x) Æ r]
y2
c
r
x
y
y1
3
1
2
y3
Line bundles
Note:
u = Yzy y = Yz
y [(c Ç x) Æ r]
y2
c
r
x
y
y1
3
1
2
y3
Line bundles
Note:(c Ç x) Æ r = [c x – x c ] rT T
u = Yzy y = Yz
y [(c Ç x) Æ r] = P x when z = c
y2
c
r
x
y
y1
3
1
2
y3
Line bundles
c
r
x
y
u ¼ P x ¼ P*
p ¼ P T ¼ P T y
Perspective projection
z
p’
c
r
x
y
y ¼ P x ¼ P*
p ¼ P T ¼ P T y
Perspective projection
z
p’
Note: y and u haveare identified here
П1
Chasles’ absolute conic: x12 + x2
2 + x32 = 0, x4 = 0.
The absolute quadratic complex: T diag(Id,0) = | u |2 = 0.
Perspective projection
c
r
x
x’
c
r
x
x’
x’¼P x’¼P*
p’¼P T ’ ¼P T x’
x’¼P x ¼P*
p’¼P T ¼P T
The AQC general equation:T = 0, with = X*TX*
Proposition:T’ ¼ û¢ û’
Proposition :P P T ¼
’p
y’
’
y’
’
Proposition :P * P T ¼ *
Triggs (1997);Pollefeys et al. (1998)
epT = H ppT
ex = H-1 px
e = p
*
*
Z
X
Relation between K, , and *
What is a camera?What is a camera?(Ponce, CVPR’09)(Ponce, CVPR’09)
x
c
ξ
ry
x
x
c
ξ
ry
c
x
c
ξ
ry
x
c
ξ
x
c
ξ
ry
x
c
ξ
ξ
x
c
ξ
ry
x
ξ
ry
Linear familyof lines
x
ξ
x
c
ξ
ξ
ξ
Lines linearly dependent on 2 or 3 lines
(Veblen & Young, 1910)
Then go on recursively for general linear dependence
© H. Havlicek, VUT
What a camera is
Definition: A camera is a two-parameter linear family of lines – that is, a degenerate regulus, or a non-degenerate linear congruence.
Rank-3 families:Reguli
Line fields ≡ epipolar plane images(Bolles, Baker, Marimont, 1987)
Line bundles
Rank-4 (nondegenerate) families:Linear congruences
Figures © H. Havlicek, VUT
x
ξ
yr
x
yr
ξ
Hyperbolic linear congruences
Crossed-slit cameras(Zomet et al., 2003)
Linear pushbroom cameras(Gupta & Hartley, 1997)
© E
. M
olz
can
© L
eic
a
Hyperbolic linear congruences
© T. Pajdla, CTU
Elliptic linear congruences
Linear oblique cameras (Pajdla, 2002)Bilinear cameras (Yu & McMillan, 2004)Stereo panoramas / cyclographs (Seitz & Kim, 2002)
Parabolic linear congruences
Pencil cameras (Yu & McMillam, 2004)Axial cameras (Sturm, 2005)
Plücker coordinates and the Klein quadric
line
screw
the Klein quadric= x Ç y =
uv[ ]
x
y
Note: u . v = 0
P5
Pencils of screws and linear congruences
line
s
P5
the Klein quadric
Reciprocal screws:(s | t) = 0
Screw ≈ linear complex:s ≈ { ± | ( s | ± ) = 0 }
line
s
P5
the Klein quadric
tl
Pencils of screws and linear congruences
Reciprocal screws:(s | t) = 0
Screw ≈ linear complex:s ≈ { ± | ( s | ± ) = 0 }
Pencil of screws: l = { ¸ s + ¹k t ; ¸k¹2R }
The carrier of l is alinear congruence
P5
e
hp
Reciprocal screws:(s | t) = 0
Screw ≈ linear complex:s ≈ { ± | ( s | ± ) = 0 }
Pencil of screws: l = { ¸ s + ¹k t ; ¸k¹2R }
The carrier of l is alinear congruence
Pencils of screws and linear congruences
x
±2
Hyperbolic linear congruences
»
±1
x»1
p1
±1
±2
p2
Hyperbolic linear congruences
» = (xT[ p1 p2T]x) »1 + (xT[ p1 p2
T]x) »2
+ (xT[ p1 p2T]x) »3 + (xT[ p1 p2
T]x) »4
»2
»3 »4
»
x»1
p1
±1
±2
p2
Hyperbolic linear congruences
» = (yT[ p1 p2T] y) »1 + (yT[ p1 q2
T] y) »2
+ (yT[ q1 p2T] y) »3 + (yT[ q1 q2
T] y) »4
y = u1 y1 + u2 y2 + u3 y3 = Y u
»2
»3 »4
»
y
x»1
p1
±1
±2
p2
Hyperbolic linear congruences
» = (uT[ ¼1¼2T]u) »1 + (uT[ ¼1 ρ½2
T]u) »2
+ (uT[ ρ½1¼2T]u) »3 + (uT[ρ½1 ρ½2
T]u) »4
= X û , where X2R6£4 and û2R4
»2
»3 »4
»
y
x ξ
±
a2
p1
z
p2
p
a1
Parabolic linear congruences
±
s°
T
» = X û , where X2R6£5 and û2R5
Elliptic linear congruences
x
»y
» = X û , where X2R6£4 and û2R4
x
»1
y1
»2
y2
Epipolar geometry
(»1 | »2 ) = 0 or û1TF û2 = 0, where F = X1
TX2 2R4£4
Feldman et al. (2003): 6£6 F for crossed-slit cameras
Gupta & Hartley (1997): 4£4 F for linear pushbroom cameras
Trinocular geometry
Di (»1 , »2 , »3 ) = 0 or Ti (û1 , û2 , û3 ) = 0, for i = 1,2,3,4
1 1 1
2 2 2
3 3 3
4 4 4
5 5 5
6 6 6
δ
η φ
x
The essential map(Oblique cameras, Pajdla, 2002)
x
ξ
Ax
x ! ξ = x Ç Ax
B
H
P
E
Canonical forms of essential maps A ( = matrices with quadratic minimal poylnomial)
(Batog, Goaoc, Ponce, 2009)
Alternative geometric characterization of linearcongruences
A new elliptic camera? (Batog, Goaoc, Ponce, 2010)
SMOOTH SURFACES AND THEIR OUTLINES
• Elements of Differential Geometry• What are the Inflections of the Contour?• Koenderink’s Theorem•The second fundamental form• Koenderink’s Theorem• Aspect graphs• More differential geometry• A catalogue of visual events• Computing the aspect graph
• http://www.di.ens.fr/~ponce/geomvis/lect6.ppt • http://www.di.ens.fr/~ponce/geomvis/lect6.pdf
Smooth Shapes and their Outlines
Can we say anything about a 3D shapefrom the shape of its contour?
What are the contour stable features??
folds cusps T-junctions
Shadows are likesilhouettes..
Reprinted from “Computing Exact Aspect Graphs of Curved Objects: Algebraic Surfaces,” by S. Petitjean,J. Ponce, and D.J. Kriegman, the International Journal of ComputerVision, 9(3):231-255 (1992). 1992Kluwer Academic Publishers.
Reprinted from “Solid Shape,” by J.J. Koenderink,MIT Press (1990). 1990 by the MIT.
Differential geometry: geometry in the small
A tangent is the limitof a sequence ofsecants.
The normal to a curveis perpendicular to thetangent line.
What can happen to a curve in the vicinity of a point?
(a) Regular point;
(b) inflection;
(c) cusp of the first kind;
(d) cusp of the second kind.
The Gauss Map
• It maps points on a curve onto points on the unit circle.
• The direction of traversal of the Gaussian image revertsat inflections: it folds there.
The curvature
C
• C is the center of curvature;
• R = CP is the radius of curvature;
• = lim s = 1/R is the curvature.
Closed curves admit a canonical orientation..
> 0
<0
= d / ds à derivative of the Gauss map!
Twisted curves are more complicated animals..
A smooth surface, its tangent plane and its normal.
Normal sections and normal curvatures
Principal curvatures:minimum value maximum value
Gaussian curvature:K = 1 1
22
The differential of the Gauss map
dN (t)= lim s ! 0
Second fundamental form:II( u , v) = uT dN ( v )
(II is symmetric.)
• The normal curvature is t = II ( t , t ).• Two directions are said to be conjugated when II ( u , v ) = 0.
The local shape of a smooth surface
Elliptic point Hyperbolic point
Parabolic point
K > 0 K < 0
K = 0
Reprinted from “On ComputingStructural Changes in Evolving Surfaces and their Appearance,”By S. Pae and J. Ponce, theInternational Journal of ComputerVision, 43(2):113-131 (2001). 2001 Kluwer AcademicPublishers.
The parabolic lines marked on the Apollo Belvedere by Felix Klein
N . v = 0 ) II( t , v )=0
Asymptotic directions:
The contour cusps whenwhen a viewing ray grazesthe surface along an asymptotic direction.
II(u,u)=0
The Gauss map
The Gauss map folds at parabolic points.Reprinted from “On ComputingStructural Changes in Evolving Surfaces and their Appearance,”By S. Pae and J. Ponce, theInternational Journal of ComputerVision, 43(2):113-131 (2001). 2001 Kluwer AcademicPublishers.K = dA’/dA
Smooth Shapes and their Outlines
Can we say anything about a 3D shapefrom the shape of its contour?
Theorem [Koenderink, 1984]: the inflections of the silhouetteare the projections of parabolic points.
Koenderink’s Theorem (1984)
K = r c
Note: > 0.r
Corollary: K and havethe same sign!
c
Proof: Based on the idea that,given two conjugated directions,
K sin2 = u v
What are the contour stable features??
folds T-junctionscusps
How does the appearance of an object change with viewpoint?
Reprinted from “Computing Exact Aspect Graphs of Curved Objects: Algebraic Surfaces,” by S. Petitjean,J. Ponce, and D.J. Kriegman, the International Journal of ComputerVision, 9(3):231-255 (1992). 1992Kluwer Academic Publishers.
Imaging in Flatland: Stable Views
Visual Event: Change in Ordering of Contour Points
Transparent ObjectOpaque Object
Visual Event: Change in Number of Contour Points
Transparent ObjectOpaque Object
Exceptional and Generic Curves
The Aspect GraphIn Flatland
The Geometry of the Gauss Map
Cusp ofGauss
Gutterpoint
Concavefold
Convexfold
Gausssphere
Image ofparaboliccurve
Movinggreatcircle
Reprinted from “On ComputingStructural Changes in Evolving Surfaces and their Appearance,”By S. Pae and J. Ponce, theInternational Journal of ComputerVision, 43(2):113-131 (2001). 2001 Kluwer AcademicPublishers.
Asymptotic directions at ordinary hyperbolic points
The integral curves of the asymptoticdirections form two families ofasymptotic curves (red and blue)
Asymptotic curves
Parabolic curve Fold
Asymptotic curves’ images
Gaussmap
• Asymptotic directions are self conjugate: a . dN ( a ) = 0
• At a parabolic point dN ( a ) = 0, so for any curve t . dN ( a ) = a . dN ( t ) = 0
• In particular, if t is the tangent to the parabolic curve itself dN ( a ) ¼ dN ( t )
The Lip Event
Reprinted from “On ComputingStructural Changes in Evolving Surfaces and their Appearance,”By S. Pae and J. Ponce, theInternational Journal of ComputerVision, 43(2):113-131 (2001). 2001 Kluwer AcademicPublishers.
v . dN (a) = 0 ) v ¼ a
The Beak-to-Beak Event
Reprinted from “On ComputingStructural Changes in Evolving Surfaces and their Appearance,”By S. Pae and J. Ponce, theInternational Journal of ComputerVision, 43(2):113-131 (2001). 2001 Kluwer AcademicPublishers.
v . dN (a) = 0 ) v ¼ a
Ordinary Hyperbolic Point
Flecnodal Point
Reprinted from “On ComputingStructural Changes in Evolving Surfaces and their Appearance,”By S. Pae and J. Ponce, theInternational Journal of ComputerVision, 43(2):113-131 (2001). 2001 Kluwer AcademicPublishers.
Red asymptotic curves
Red flecnodal curve
Asymptoticsphericalmap
Red asymptotic curves
Red flecnodal curve
Cusp pairs appear or disappear as one crosses the fold of theasymptotic spherical map.This happens at asymptotic directions along parabolic curves,and asymptotic directions along flecnodal curves.
The Swallowtail Event
Flecnodal Point
Reprinted from “On Computing Structural Changes in Evolving Surfaces and their Appearance,” by S. Pae and J. Ponce, theInternational Journal of Computer Vision, 43(2):113-131 (2001). 2001 Kluwer Academic Publishers.
The Bitangent Ray Manifold:
Ordinarybitangents..
..and exceptional(limiting) ones.
P
P’
P”
limiting bitangent line
unodeReprinted from “Toward a Scale-Space Aspect Graph: Solids ofRevolution,” by S. Pae and J. Ponce, Proc. IEEE Conf. on ComputerVision and Pattern Recognition (1999). 1999 IEEE.
The Tangent Crossing Event
Reprinted from “On Computing Structural Changes in Evolving Surfaces and their Appearance,” by S. Pae and J. Ponce, theInternational Journal of Computer Vision, 43(2):113-131 (2001). 2001 Kluwer Academic Publishers.
The Cusp Crossing Event
After “Computing Exact Aspect Graphs of Curved Objects: Algebraic Surfaces,” by S. Petitjean, J. Ponce, and D.J. Kriegman, the International Journal of Computer Vision, 9(3):231-255 (1992). 1992 Kluwer Academic Publishers.
The Triple Point Event
After “Computing Exact Aspect Graphs of Curved Objects: Algebraic Surfaces,” by S. Petitjean, J. Ponce, and D.J. Kriegman, the International Journal of Computer Vision, 9(3):231-255 (1992). 1992 Kluwer Academic Publishers.
X0
X1
E1
S1
S2
E3
S1
S2
Tracing Visual Events
P1(x1,…,xn)=0…Pn(x1,…,xn)=0
F(x,y,z)=0
Computing the Aspect Graph
• Curve Tracing
• Cell Decomposition
After “Computing Exact Aspect Graphs of Curved Objects: Algebraic Surfaces,” by S. Petitjean, J. Ponce, and D.J. Kriegman, the International Journal of Computer Vision, 9(3):231-255 (1992). 1992 Kluwer Academic Publishers.
An Example
Approximate Aspect Graphs (Ikeuchi & Kanade, 1987)
Reprinted from “Automatic Generation of Object Recognition Programs,” by K. Ikeuchi and T. Kanade, Proc. of the IEEE, 76(8):1016-1035 (1988). 1988 IEEE.
Approximate Aspect Graphs II: Object Localization(Ikeuchi & Kanade, 1987)
Reprinted from “Precompiling a GeometricalModel into an Interpretation Tree for ObjectRecognition in Bin-Picking Tasks,” by K. Ikeuchi,Proc. DARPA Image Understanding Workshop,1987.