lect907h - 1 STRUCTURE FROM MOTION Problem Given optical...

Info iconThis preview shows pages 1–5. Sign up to view the full content.

View Full Document Right Arrow Icon

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

View Full DocumentRight Arrow Icon

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

View Full DocumentRight Arrow Icon
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: 1 STRUCTURE FROM MOTION Problem Given optical flow or point correspondences, compute 3-D motion (translation and rotation) and depth. 2 Main Points What projection? How many points? How many frames? Single Vs multiple motions. Mostly non-linear problem . Orthographic Projection (displacement ) = - + + = + - + x x y Z T y x y Z T X Y a b a g + -- = + = Z Y X T T T Z Y X T Z Y X R Z Y X 1 1 1 g b g a b a 3 Perspective Projection (displacement) Z T y x Z T y x y Z T y x Z T y x x Z Y Z X + + +- + + + = + + +- + +- = 1 1 g b g a g b b a Orthographic Projection (optical flow) Z x V y v y Z V x u 1 3 2 3 2 1 - + = = - + = = & & 4 Perspective Projection (optical flow) 2 1 2 3 3 1 2 2 2 1 3 3 2 1 ) ( ) ( y f xy f y Z V x Z V f v x f xy...
View Full Document

This note was uploaded on 06/12/2011 for the course CAP 6411 taught by Professor Shah during the Spring '09 term at University of Central Florida.

Page1 / 15

lect907h - 1 STRUCTURE FROM MOTION Problem Given optical...

This preview shows document pages 1 - 5. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online