CS223B-L2-Lenses

CS223B-L2-Lenses - Stanford CS223B Computer Vision Winter...

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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Stanford CS223B Computer Vision, Winter 2008/09 Lecture 2 Image Formation Professor Sebastian Thrun CAs: Ethan Dreyfuss, Young Min Kim, Alex Teichman
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Topics Cameras and Projections Pinhole Camera, vanishing points Orthographic Projection Perspective Camera Model Weak-Perspective Camera Model The Thin Lens Aberrations
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Pinhole Camera *many slides in this lecture from Marc Pollefeys comp256, Lect 2 -- Brunelleschi, XVth Century
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Perspective Projection A “similar triangle’s” approach to vision. Marc Pollefeys
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Implications For Perception* * A Cartoon Epistemology: http://cns-alumni.bu.edu/~slehar/cartoonepist/cartoonepist.html Same size things get smaller, we hardly notice… Parallel lines meet at a point…
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Perspective Projection x f Z Z f X x - = X O -x f
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Consequences: Parallel lines meet There exist vanishing points Marc Pollefeys
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 The Effect of Perspective
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Vanishing points VPL VPR H VP 1 VP 2 VP 3 Different directions correspond  to different vanishing points Marc Pollefeys
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Question How many vanishing points may there be in an image? 1 2 3 6 100
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Perspective Projection f Z Z f X x = X O -x
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Weak Perspective Projection f Z O -x Z Z X const Z f X x = Z
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Generalization of Orthographic Projection = = y Y x X When the camera is at a (roughly constant) distance from the scene, take m =1. Marc Pollefeys
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 Pictorial Comparison Weak perspective Perspective Marc Pollefeys
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Sebastian Thrun CS223B Computer Vision, Winter 08/09 camera the of length focal depth s coordinate world , , s coordinate image , = = = = f Z Z Y X
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