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Lecture36 LowLevelVision II

The document covers Lecture 36 on Low Level Vision, focusing on imaging transformation and camera models. It discusses camera calibration and stereo imaging processes, detailing the mathematical relationships involved. The content is presented by Shyamanta M Hazarika from the Indian Institute of Technology Guwahati.

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Sampreeti Mazumdar
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23 views14 pages

Lecture36 LowLevelVision II

The document covers Lecture 36 on Low Level Vision, focusing on imaging transformation and camera models. It discusses camera calibration and stereo imaging processes, detailing the mathematical relationships involved. The content is presented by Shyamanta M Hazarika from the Indian Institute of Technology Guwahati.

Uploaded by

Sampreeti Mazumdar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Robotics and Robot Applications

Lecture 36: Low Level Vision -II

Shyamanta M Hazarika
Biomimetic Robotics and Artificial Intelligence Lab
Mechanical Engineering
Indian Institute of Technology Guwahati
s.m.hazarika@iitg.ac.in
Imaging Transformation
Basic Model of Imaging Process

2 © Shyamanta M Hazarika, ME, IIT Guwahati


Imaging Transformation
Camera  coordinates  in  homogeneous  form

Cartesian coordinates of
any point in the camera
coordinate system

3 © Shyamanta M Hazarika, ME, IIT Guwahati


Camera Model

4 © Shyamanta M Hazarika, ME, IIT Guwahati


Camera Model

5 © Shyamanta M Hazarika, ME, IIT Guwahati


Camera Model

6 © Shyamanta M Hazarika, ME, IIT Guwahati


Camera Model

7 © Shyamanta M Hazarika, ME, IIT Guwahati


Camera Model

Image  coordinates  of  point  w

8 © Shyamanta M Hazarika, ME, IIT Guwahati


Camera Calibration

Elements of A contain all the camera parameter.

9 © Shyamanta M Hazarika, ME, IIT Guwahati


Camera Calibration
Substituting ; expanding the matrix product

Yields two equations with twelve unknown coefficients:

10 © Shyamanta M Hazarika, ME, IIT Guwahati


Stereo Imaging
Model of a Stereo Imaging Process

11 © Shyamanta M Hazarika, ME, IIT Guwahati


Stereo Imaging

12 © Shyamanta M Hazarika, ME, IIT Guwahati


Stereo Imaging

13 © Shyamanta M Hazarika, ME, IIT Guwahati


Primitive Basic Relationships
Neighbours of a Pixel
𝑁" (𝑝)

14 © Shyamanta M Hazarika, ME, IIT Guwahati

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