lecture24 - 1 Multi-View Geometry (Cont.) Stereo...

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Unformatted text preview: 1 Multi-View Geometry (Cont.) Stereo Constraints (Review) p p ? Given p in left image, where can the corresponding point p in right image be? 2 Stereo Constraints (Review) X 1 Y 1 Z 1 O 1 Image plane Focal plane M p p Y 2 X 2 Z 2 O 2 Epipolar Line Epipole Epipolar Constraint (Review) 3 From Geometry to Algebra (Review) O O P p p From Geometry to Algebra (Review) O O P p p 4 Linear Constraint: Should be able to express as matrix multiplication. The Essential Matrix (Review) 5 The Essential Matrix Based on the Relative Geometry of the Cameras Assumes Cameras are calibrated (i.e., intrinsic parameters are known) Relates image of point in one camera to a second camera (points in camera coordinate system). Is defined up to scale 5 independent parameters The Essential Matrix Similarly p is the epipolar line corresponding to p in the right camera T 6 The Essential Matrix [ ] e R = = t e e Essential Matrix is singular with rank 2 Similarly, [ ] [ ] =- = = e t R e t R e T T T T Small Motions and Epipolar Constraint 7...
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This note was uploaded on 06/12/2011 for the course CAP 5415 taught by Professor Staff during the Fall '08 term at University of Central Florida.

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lecture24 - 1 Multi-View Geometry (Cont.) Stereo...

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