WEEK 9:

WEB-ASSISTED OBJECT

DETECTION

A L E J A N D R O TO R R O E L L A &

AM

I R R . ZA M

I R

SENSOR MODEL: PERSPECTIVE PROJECTION

Implemented a sensor model based on perspective projection (objects that are far away appear smaller in the image as compared to objects that are closer)

Where:

P = pixel transformation matrix

K = camera calibration matrix

R = rotation matrix

C = world coordinate of the camera

Xw = world coordinate of the object

Xi = pixel coordinate of the object

GEOMETRY METHOD RESULTS: BEFORE

Street LightsTrash Cans

GEOMETRY METHOD RESULTS: AFTER GIS SIFT(WITHOUT PERSPECTIVE PROJECTION)

Street LightsTrash Cans

GEOMETRY METHOD RESULTS: AFTER GIS SIFT(WITH PERSPECTIVE PROJECTION)

Street LightsTrash Cans

GEOMETRY METHOD RESULTS: AFTER FUSION (WITHOUT PERSPECTIVE PROJECTION)

Street LightsTrash Cans

Street LightsTrash Cans

GEOMETRY METHOD RESULTS: AFTER FUSION (WITH PERSPECTIVE PROJECTION)

GEOMETRY METHOD RESULTS: BEFORE

𝑆𝑇𝐷

Traffic SignalsStreet Lights

GEOMETRY METHOD RESULTS: AFTER GIS SIFT(WITHOUT PERSPECTIVE PROJECTION)

𝑆𝑇𝐷

Traffic SignalsStreet Lights

GEOMETRY METHOD RESULTS: AFTER GIS SIFT(WITH PERSPECTIVE PROJECTION)

Traffic SignalsStreet Lights

GEOMETRY METHOD RESULTS: AFTER FUSION (WITHOUT PERSPECTIVE PROJECTION)

𝑆𝑇𝐷

Traffic SignalsStreet Lights

GEOMETRY METHOD RESULTS: AFTER FUSION (WITH PERSPECTIVE PROJECTION)

Traffic SignalsStreet Lights

GOALS FOR NEXT WEEK

• Test the GIS fusion with perspective projection thoroughly

• Possibly fix bugs with the implementation of the sensor model• Principal point of the image is unknown, need some way to

find what it is.• Some pixel values result in out of the bounds of the image• Not sure why, but it might be due to the rough estimation

of the principal point and/or error in the conversion from geodetic to ECEF.

THANK YOUFIN.