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Camera Models and Imaging
Leow Wee Kheng CS4243 Computer Vision and Pattern Recognition Camera Models and Imaging CS4243 Camera Models and Imaging 1 Through our eyes… ...
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Leow Wee Kheng CS4243 Computer Vision and Pattern Recognition
Camera Models and Imaging
CS4243
Camera Models and Imaging
1
Through our eyes…
CS4243
Through our eyes we see the world.
Camera Models and Imaging
2
cornea focus light lens retina captures image transmit image
optic nerves iris pupil control amount of light entering the eye
CS4243
Camera Models and Imaging
3
Through their eyes…
CS4243
Camera is computer’s eye.
Camera Models and Imaging
4
Camera is structurally the same the eye. sensor | retina
lens lens | cornea CS4243
Camera Models and Imaging
5
lens
aperture | pupil
lens | cornea CS4243
Camera Models and Imaging
6
aperture plates | iris
aperture | pupil
CS4243
Camera Models and Imaging
7
Imaging
Images are 2D projections of real world scene.
Images capture two kinds of information: Geometric:
positions, points, lines, curves, etc. Photometric: intensity, colour.
Complex 3D-2D relationships.
Camera models approximate relationships.
CS4243
Camera Models and Imaging
8
Camera Models
Pinhole camera model
Orthographic projection
Scaled orthographic projection
Paraperspective projection
Perspective projection
CS4243
Camera Models and Imaging
9
Pinhole Camera Model image plane
2D image
pinhole
virtual image plane
3D object
focal length
CS4243
Camera Models and Imaging
10
Math representation world frame / camera frame
camera centre CS4243
image frame
image centre Camera Models and Imaging
projection line
optical axis 11
CS4243
By default, use right-handed coordinate system.
Camera Models and Imaging
12
3D point P = (X, Y, Z)T projects to 2D image point p = (x, y)T .
By symmetry,
i.e.,
CS4243
Simplest form of perspective projection.
Camera Models and Imaging
13
Orthographic Projection
3D
scene is at infinite distance from camera. All projection lines are parallel to optical axis. So,
CS4243
Camera Models and Imaging
14
Scaled Orthographic Projection
depth
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