lec25_stereo_web - CS4670/5670 Computer Vision Kavita Bala...

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Lec 25: Stereo CS4670/5670: Computer Vision Kavita Bala
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Announcements Prelim grades out Solutions on CMS Regrades on Problem 4 and 6 Please drop off prelim in hand back room or in office hours with TAs
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Calibration using a reference object Place a known object in the scene identify correspondence between image 2D and scene 3D compute mapping from scene to image Issues must know geometry very accurately must know 3D->2D correspondence
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Projection equation The projection matrix models the cumulative effect of all parameters Useful to decompose into a series of operations projection intrinsics rotation translation identity matrix Camera parameters A camera is described by several parameters Translation T of the optical center from the origin of world coords Rotation R of the image plane focal length f , principal point (x’ c , y’ c ) , pixel size (s x , s y ) blue parameters are called “ extrinsics ,” red are “ intrinsics The definitions of these parameters are not completely standardized especially intrinsics—varies from one book to another x sx sy s * * * * * * * * * * * * X Y Z 1
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  • Fall '09
  • Computer Graphics, Depth perception, Stereoscopy, Stereopsis, Autostereogram, Stereogram, basic stereo algorithm

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