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Lec 9

The document discusses camera calibration and how to determine intrinsic and extrinsic camera parameters. It covers topics like camera model, perspective projection, transformations, Euler angles, and computing camera parameters using known 3D and 2D image points. Methods like pseudo inverse and least squares fitting are used. Applications in film industry and pose estimation are also mentioned.

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63 views51 pages

Lec 9

The document discusses camera calibration and how to determine intrinsic and extrinsic camera parameters. It covers topics like camera model, perspective projection, transformations, Euler angles, and computing camera parameters using known 3D and 2D image points. Methods like pseudo inverse and least squares fitting are used. Applications in film industry and pose estimation are also mentioned.

Uploaded by

Saad khalil
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Camera Model and Calibration

Lecture 9
Lecture-12
Guest Lecturer: Dr. Dong Zhang
CRCV, UCF
Camera Calibration
• Determine extrinsic and intrinsic parameters
of camera
– Extrinsic
• 3D location and orientation of camera
– Intrinsic
• Focal length
• The size of the pixels
Application: Object Transfer

Source Image Target Image


More Results

Source Image Target Image


More Results
Application in Film Industry
Pose Estimation
• Given 3D model of object, and its image
(2D projection) determine the location and
orientation (translation & rotation) of object
such that when projected on the image plane
it will match with the image.

http://www.youtube.com/watch?v=ZNHRH00UMvk
Transformations
3-D Translation
Scaling
Rotation
Y

R Y’
R
Y
X’ X
X

Z
Rotation matrices are orthonormal matrices
Euler Angles
Rotation around an arbitrary axis:

if angles are small cos 1 sin


Perspective Projection (origin at the lens center)

(X,Y,Z)
Image Plane World
f Lens point

y 0
Z
image
y f
Y Z
fY fX
y x
Z Z
Perspective Projection (origin at image center)

(X,Y,Z)
Image Plane World
f Lens point
0
y
Z
image
Perspective

Image
World coordinates
coordinates
Perspective
Camera Model

• Camera is at the origin of the world


coordinates first
• Then translated by some amount(G),
• Then rotated around Z axis in counter
clockwise direction,
• Then rotated again around X in
counter clockwise direction, and
• Then translated by C.
Since we are moving the camera instead
of object we need to use inverse transformations
Camera Model
Camera Model
Camera Model

Ch3 is not needed, we have 12


unknowns.
Camera Model
• How to determine camera matrix?
• Select some known 3D points (X,Y,Z), and
find their corresponding image points (x,y).
• Solve for camera matrix elements using
least squares fit.
Camera Model

Ch3 is not needed, we have 12


unknowns.
Camera Model
Camera Model
One point

n points
2n equations,
12 unknowns
Camera Model

This is a homogenous system, no unique solution


Select
Camera Model

Pseudo inverse
Least squares fit
Finding Camera Location
• Take one 3D point X1 and find its
image homogenous coordinates.
• Set the third component of
homogenous coordinates to zero,
find corresponding World
coordinates of that point, X11
• Connect X1 and X11 to get a line
in 3D.
• Repeat this for another 3D point
X2 and find another line
• Two lines will intersect at the
location of camera.
Camera Location
Camera Orientation

• Only time the image will be


formed at infinity if Ch4=0.

• This is equation of a plane,


going through the lens, which is
parallel to image plane.
Application

Camera location: intersection of California


and Mason streets, at an elevation of 435 feet
above sea level. The camera was oriented
at an angle of 80 above the horizon. fsx=495,
fsy=560.
Application

Camera location: at an elevation of 1200 feet


above sea level. The camera was oriented
at an angle of 40 above the horizon. fsx=876,
fsy=999.

Recovering the camera parameters from a


transformation matrix
TM Strat - Readings in Computer Vision, 1987
Camera Parameters
• Extrinsic parameters
– Parameters that define the location and orientation of
the camera reference frame with respect to a known
world reference frame
• 3-D translation vector
• A 3 by 3 rotation matrix
• Intrinsic parameters
– Parameters necessary to link the pixel coordinates of
an image point with the corresponding coordinates in
the camera reference frame
• Perspective projection (focal length)
• Transformation between camera frame coordinates and pixel
coordinates
Camera Model Revisited:
Rotation & Translation
Perspective Projection: Revisited
Image Plane
(X,Y,Z)
World
Lens Y point
y

f Z

Origin at the lens


Image plane in front of the lens
Camera Model Revisited:
Perspective

Origin at the lens


Image plane in front of the lens
Camera Model Revisited: Image and Camera
coordinates

image coordinates
camera coordinates
image center (in pixels)
effective size of pixels (in
millimeters) in the horizontal and
vertical directions.
Camera Model Revisited
Camera Model Revisited
Camera Model Revisited

fx effective focal length expressed in


effective horizontal pixel size
Computing Camera Parameters
• Using known 3-D points and corresponding
image points, estimate camera matrix employing
pseudo inverse method of section 1.6
(Fundamental of Computer Vision).
• Compute camera parameters by relating camera
matrix with estimated camera matrix.
– Extrinsic
• Translation
• Rotation
– Intrinsic
• Horizontal fx and fy vertical focal lengths
• Translation ox and oy
Comparison
Computing Camera Parameters
estimated

Since M is defined up to a scale factor

Because rotation matrix


is orthonormal

Divide each entry of by .


Computing Camera Parameters
Computing Camera Parameters:
estimating third row of rotation
matrix and translation in depth

Since we can determine Tz>0 (origin of world


reference is in front)
Or Tz<0(origin of world reference is in back)
we can determine sign.
Computing Camera Parameters

Let
Computing Camera Parameters:
origin of image

Therefore:
Computing Camera Parameters:
vertical and horizontal focal lengths

Therefore:
Computing Camera Parameters:
remaining rotation and translation
parameters
Reading Material
• Chapter 1, Fundamental Of Computer Vision, Mubarak Shah
• Chapter 6, Introductory Techniques, E. Trucco and A. Verri,
Prentice Hall, 1998.
• Recovering the camera parameters from a transformation matrix,
TM Strat - Readings in Computer Vision, 1987

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