Image Formation: - The Two Parts of The Image Formation Process

Image Formation
The two parts of the image formation process

The geometry of image formation which determines where in the image plane the
projection of a point in the scene will be located.
The physics of light which determines the brightness of a point in the image plane as
a function of illumination and surface properties.
A simple model
- The scene is illuminated by a single source.
- The scene reects radiation towards the camera.
- The camera senses it via chemicals on lm.
-2-
Camera Geometry
- The simplest device to form an image of a 3D scene on a 2D surface is the "pinhole"
camera.
- Rays of light pass through a "pinhole" and form an inverted image of the object on
the image plane.
Camera Optics
- In practice, the aperture must be larger to admit more light.
- Lens are placed in the aperture to focus the bundle of rays from each scene point
onto the corresponding point in the image plane.
-3-
Diffraction and Pinhole Optics
- If we use a wide pinhole, light from the source spreads across the image (i.e., not
properly focused), making it blurry.
- If we narrow the pinhole, only a small amount of light is let in.
* the image sharpness is limited by diffraction.
* when light passes through a small aperture, it does not travel in a straight line.
* it is scattered in many direction (this is a quantum effect).
- In general, the aim of using lens is to duplicate the pinhole geometry without resort-
ing to undesirable small apertures.
Human Vision
- At high light levels, pupil (aperture) is small and blurring is due to diffraction.
- At low light levels, pupil is open and blurring is due to lens imperfections.
-4-
CCD Cameras
- An array of tiny solid state cells convert light energy into electrical charge.
- Manufactured on chips typically measuring about 1cm x 1cm (for a 512x512 array,
each element has a real width of roughly 0.001 cm).
- The output of a CCD array is a continuous electric signal (video signal) which is
generated by scanning the photo-sensors in a given order (e.g., line by line) and read-
ing out their voltages.
Frame grabber
- The video signal is sent to an electronic device called the frame grabber.
- The frame grabber digitizes the signal into a 2D, rectangular array N x M of integer
values, stored in the frame buffer.
-5-
CCD array and frame buffer
- In a CCD camera, the physical image plane is the CCD array of nxm rectangular
grid of photo-sensors.
- The pixel image plane (frame buffer) is an array of NxM integer values (pixels).
- The position of the same point on the image plane will be different if measured in
CCD elements (x, y) or image pixels (x
im
, y
im
).
- In general, n N and m M; assuming that the origin in both cases is the upper
left corner we have:
x
im
=
N
n
x y
im
=
M
m
y
where (x
im
, y
im
) are the coordinates of the point in the pixel plane and (x, y) are the
coordinates of the point in the CCD plane.
- In general, it is convenient to assume that the CCD elements are always in one-to-
one correspondence with the image pixels.
- Units in each case:
(x
im
, y
im
) is measured in pixels
(x, y) is measured, e.g., in millimeters.
-6-
Reference Frames
- Fiv e reference frames are needed for general problems in 3D scene analysis.
Object Coordinate Frame
- This is a 3D coordinate system: x
b
, y
b
, z
b
- It is used to model ideal objects in both computer graphics and computer vision.
- It is needed to inspect an object (e.g., to check if a particular hole is in proper posi-
tion relative to other holes)
- The coordinates of 3D point B, e.g., relative to the object reference frame are
(x
b
, 0, z
b
)
- Object coordinates do not change regardless how the object is placed in the scene.
Notation: (X
o
, Y
o
, Z
o
)
T
-7-
World Coordinate Frame
- This is a 3D coordinate system: x
w
, y
w
, z
w
- The scene consists of object models that have been placed (rotated and translated)
into the scene, yielding object coordinates in the world coordinate system.
- It is needed to relate objects in 3D (e.g., the image sensor tells the robot where to to
pick up ta bolt and in which hole to insert it).
Notation: (X
w
, Y
w
, Z
w
)
T
Camera Coordinate Frame
- This is a 3D coordinate system (x
c
, y
c
, z
c
axes)
- Its purpose is to represent objects with respect to the location of the camera.
Notation: (X
c
, Y
c
, Z
c
)
T
-8-
Image Plane Coordinate Frame (CCD plane)
- This is a 2D coordinate system (x
f
, y
f
axes)
- Describes the coordinates of 3D points projected on the image plane.
- The projection of A, e.g., is point a whose both coordinates are negative.
Notation: (x, y)
T
Pixel Coordinate Frame
- This is a 2D coordinate system (r, c axes)
- Each pixel in this frame has an integer pixel coordinates.
- Point A, e.g., gets projected to image point (a
r
, a
c
) where a
r
and a
c
are integer row
and column.
Notation: (x
im
, y
im
)
T
-9-
Transformations between frames
Object Coordinates (3D)
World Coordinates (3D)
Camera Coordinates (3D)
Image Plane Coordinates (2D)
Pixel Coordinates (2D, int)
extrinsic camera
intrinsic camera
parameters
parameters

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The two parts of the image formation process

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