lec20 - Announcements HW 4 due Friday Final Exam: Tuesday,...

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1 CSE152, Spring 2011 Intro Computer Vision Motion Introduction to Computer Vision CSE 152 Lecture 20 CSE152, Spring 2011 Intro Computer Vision Announcements • HW 4 due Friday • Final Exam: Tuesday, 6/7 at 8:00-11:00 • Fill out your CAPES CSE152, Spring 2011 Intro Computer Vision Motion Some problems of motion 1. Correspondence: Where have elements of the image moved between image frames 2. Reconstruction: Given correspondence, what is 3-D geometry of scene 3. Ego Motion: How has the camera moved. 4. Segmentation: What are regions of image corresponding to different moving objects 5. Tracking: Where have objects moved in the image? related to correspondence and segmentation. Variations: Small motion (video), Wide-baseline (multi-view) CSE152, Spring 2011 Intro Computer Vision Structure-from-Motion (SFM) Goal: Take as input two or more images or video w/o any information on camera position/motion, and estimate camera position and 3-D structure of scene. Two Approaches 1. Discrete motion (wide baseline) 1. Orthographic (affine) vs. Perspective 2. Two view vs. Multi-view 3. Calibrated vs. Uncalibrated 2. Continuous (Infinitesimal) motion CSE152, Spring 2011 Intro Computer Vision Discrete Motion: Some Counting Consider M images of N points, how many unknowns? 1. Camera locations: Affix coordinate system to location of first camera location: (M-1)*6 Unknowns 2. 3-D Structure: 3*N Unknowns 3. Can only recover structure and motion up to scale. Why? Total number of unknowns: (M-1)*6+3*N-1 Total number of measurements: 2*M*N Solution is possible when (M-1)*6+3*N-1 2*M*N M=2 N 5 M=3 N 4 CSE152, Spring 2011 Intro Computer Vision Epipolar Constraint: Calibrated Case Essential Matrix (Longuet-Higgins, 1981) where
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lec20 - Announcements HW 4 due Friday Final Exam: Tuesday,...

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