due Feb 15, 2010
Problem 1 (40pts)
This problem is about camera calibration. Given a set of images, and correspondences between
points in the images and points in the 3D scenes, calibration is aimed at estimating the camera
intrinsic and extrinsic parameters. The set of images that we will use for calibration can be down
loaded from:
http://web.engr.oregonstate.edu/
∼
sinisa/courses/OSU/CS556/HW/HW2/targets.zip
The images show the same scene which is a regular lattice of black bows painted on a white wall.
The images have been acquired with the same camera, but from different distances and viewpoints,
as illustrated in Fig. 1. The camera’s projection plane is a hexagon, and therefore every image
shows only a part of the wall. Distances between the centers of the bows are all the same and equal
100mm. We can define a distinct world coordinate system for each image. Consequently, each
image will define a distinct set of extrinsic parameters. Let us assume that the center of the bow
that is located leftmost in the upper left corner of each image corresponds to
(0
,
0
,
0)
of the world
coordinate system, as illustrated in Fig. 1 right. Since the lattice is regular, it is straightforward to
estimate coordinates of the centers of the other bows in this world coordinate system.
O
Figure 1: Samples from the given set of images showing a regular lattice of black bows painted on a white
wall. The world coordinate system of the wall shown on the right is defined to begin at a 3D point that is
projected onto image point O.
1
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 Spring '08
 Staff
 Geometry, Geographic coordinate system, Coordinate system, Spherical coordinate system, Coordinate systems

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