{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

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

This preview shows pages 1–7. Sign up to view the full content.

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

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 ε 6 The Essential Matrix ε [ ] e R = ′ = ′ × t e e’ Essential Matrix is singular with rank 2 Similarly, ε [ ] [ ] =- = = × × e t R e t R e T T T T Small Motions and Epipolar Constraint 7...
View Full Document

{[ snackBarMessage ]}

Page1 / 15

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

This preview shows document pages 1 - 7. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online