Introduction to Computer Vision
Name
:
CSE 152, Spring 2011
Student ID
:
David Kriegman
E-Mail
:
Assignment #3
(Due date: 05/24/2011
)
05/26/2011
Instructions
•
Please comment all your Matlab code adequately
•
Turn in a
hard copy in class
including your answers to the paper-and-pencil questions as well as the
printout of your code and results for programming questions.
•
In addition, please
email to
cutran@cs.ucsd.edu
a copy of your code. If it is a single file, just
send the
.m
ﬁle. If it is contained in multiple ﬁles, send a
zip
or
tar
ﬁle. In the subject line, please put
the string: “CSE152 Assignment 3”.
Epipolar Geometry
1.
[15 points] Consider two cameras whose image planes are the z=1 plane, and whose focal points are at
(-12, 0, 0) and (12, 0, 0). We’ll call a point in the first camera (x, y), and a point in the second camera (u,
v). Points in each camera are relative to the camera center. So, for example if (x, y) = (0, 0), this is really
the point (-12, 0, 1) in world coordinates, while if (u, v) = (0, 0) this is the point (12, 0, 1).
Figure 1
a.
[5 points] Suppose the points (x, y) = (6, 6) is matched with disparity of 5 to the point (u, v) = (1, 6).
What is the 3D location of this point?
b.
[10 points] Consider points that lie on the line x + z = 0, y = 0. Use the same stereo set up as before.
Write an analytic expression giving the disparity of a point on this line after it projects onto the two