Digital Image Processing

Assignment- Week 3
TYPE OF QUESTION: MCQ/MSQ
Number of questions: 10 Total mark: 10 X 1 = 10
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QUESTION 1:

The following figure shows an Original Image (Before transformation) in dotted lines and faded
colors and a transformed image in solid lines and dark colors. Choose the correct transformation
matrix

−1 0 0
a) � 0 −1 0�
0 0 1

1 0 0
b) �0 −1 0�
0 0 1

−1 0 0
c) � 0 1 0�
0 0 1

1 0 −1
d) �0 1 −1�
0 0 1

Correct Answer: a
Detailed Solution:

Let x’, y’ be transformed coordinates and x,y be original coordinates.Then,

𝑚𝑚𝑚𝑚′ 𝑎𝑎 𝑏𝑏 𝑐𝑐 𝑥𝑥
�𝑚𝑚𝑚𝑚′� = �𝑑𝑑 𝑒𝑒 𝑓𝑓 � �𝑦𝑦�
𝑚𝑚 𝑔𝑔 ℎ 𝑖𝑖 1
Pixel location in Original (x,y) -> Pixel location in transformed Image (x’,y’)
(0,0) -> (0,0)
(1,0) -> (-1,0)
(0,1) -> (0, -1)
(1,1) -> (-1,-1)
Using above mappings and solving the equations yields
𝑚𝑚𝑚𝑚′ −𝑚𝑚 0 0 𝑥𝑥
�𝑚𝑚𝑚𝑚′� = � 0 −𝑚𝑚 0 � �𝑦𝑦�
𝑚𝑚 0 0 𝑚𝑚 1

Since m is free to assume any value, m=1 yield option a.

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QUESTION 2:
Given 2 points a ,b in non-standard homogeneous coordinate system,
1 3
1 3
𝑎𝑎 = � � , 𝑏𝑏 = � �
1 3
1 3
select the correct statement
a) Point ‘a’ and ‘b’ gets projected to same point on image plane
b) A unique ray passes through point ‘a’, point ‘b’, center of projection (i.e. pinhole)
and intersects the image plane
c) Both a) and b)
d) Point ‘a’ and ‘b’ get projected to different points on image plane

Correct Answer: c
Detailed Solution:

1 3
1 3
𝑎𝑎 = � � , 𝑏𝑏 = � �
1 3
1 3
When written in standard homogeneous system coordinate system are

1 3/3 1
1 3/3 1
𝑎𝑎 = � � , 𝑏𝑏 = � �=� �
1 3/3 1
1 3/3 1
Thus both the point ‘a’ and ‘b’ are equivalent in standard homogeneous system coordinate system,
therefore there is a unique ray that passes through point ‘a’ and ‘b’ and intersects camera center,
projecting point ‘a’ and ‘b’ at same location on image plane.
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QUESTION 3:
How many cameras are required to find 3-D point using image coordinates of camera?
a) Atleast 1
b) Atleast 2
c) Atleast 3
d) Atleast 4

Correct Answer: b.
Detailed Solution:

A single camera provide us a ray in 3-D. So in order to find the corresponding 3-D point, we
require at least two cameras such that the intersection of these two rays (one from each camera)
gives us the 3-D point.

Hence option b is correct.

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QUESTION 4:
For a stereo pair, one camera is shifted along x-axis with respect to other. Imaging plane is XY
plane. If B is the baseline between the cameras, λ is the focal length, and ( x 2 − x1 ) is the disparity
along x-axis then which of the following is true?

λB
a) Z = B +
( x 2 − x1 )
λB
b) Y = λ −
( x 2 − x1 )
λB
c) Z = λ −
( x 2 − x1 )
λB
d) X = λ −
( x 2 − x1 )

Correct Answer: c.
Detailed Solution:

By using standard stereo model, we get

λB
Z= λ−
( x 2 − x1 )

Hence option d is correct.

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QUESTION 5:
Two identical cameras having focal length of 0.04m are used for stereo imaging. If the camera
displacement along X axis is 6.0 cm, left image point corresponding to a world point W is (0.2 mm,
0.4 mm) and the corresponding right image point is (0.4 mm, 0.4 mm), find out the 3-D location of
W with respect to a world coordinate system aligned with the coordinate system of the left camera.

a) (-60cm, -90cm, 1240 cm)

b) (6cm, 12cm, -1196cm)
c) (6cm, 9cm, 1204cm)
d) (-6cm, -9cm, 120.4cm)
Correct Answer: b
Detailed Solution:

λ =0.04m, x2 = 0.4mm, x1 = 0.2mm, B = 6.0cm. Displacement is along x-axis, so by using standard

expression for depth in stereo geometry,
λB
Z = λ − (𝑥𝑥 , substituting the above values we get Z = -1196cm
2 −𝑥𝑥1 )

For X and Y with respect to left camera, we use the following relations

𝑥𝑥0 𝑦𝑦0
𝑋𝑋 = (𝜆𝜆 − 𝑍𝑍) and 𝑌𝑌 = (𝜆𝜆 − 𝑍𝑍),
𝜆𝜆 𝜆𝜆

Substituting Z = -1196cm we get X = 6cm and Y = 12cm.

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QUESTION 6:

Which of the following deals with the conversion of three-dimensional world co-ordinate to two
dimensional image?
a. Perspective Transfomation
b. Rotation
c. Linear Transformation
d. Non-linear mapping
Correct Answer: a

Detailed Solution:

Perspective Transfomation deals with the conversion of three dimensional world co-ordinate to two
dimensional image.
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QUESTION 7:
Which of the following is correct?

I. Perspective transformation is one to one mapping.

II. Perspective transformation is many to one mapping.
III. Geometrical transformations are commutative.

a) Only I
b) Only II
c) I and III
d) II and III

Correct Answer: b.

Detailed Solution:

Perspective transformation mapping of point a 3D world to point c in the image plane is not a one
to one mapping. Rather it is a many to one mapping because all the 3-D points that lies on the
straight line passing through imaging coordinate and camera center is imaged on same imaging
coordinates.

Geometrical transformations are matrix operations, product of two matrices is not always
commutative.

Hence option b is correct.

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QUESTION 8:
For a camera with focal length of 0.10, find out the locus of the points which will be imaged at
location (0.25, 0.5) on the Image plane. Assume the camera coordinate system and world
coordinate system to be perfectly aligned.

a) X = -0.5 + 5Z, Y = -0.25 + 2.5Z

b) X = 0.5 − 5Z, Y = 0.25 - 2.5Z
c) X = 0.25 - 2.5Z, Y = 0.5 − 5Z
d) X = 0.5 - 10Z, Y = 0.5 - 10Z
Correct Answer: c.
Detailed Solution:

By using pin-hole camera geometry equations,

𝑥𝑥0 𝑦𝑦0
𝑋𝑋 = (𝜆𝜆 − 𝑍𝑍) and 𝑌𝑌 = (𝜆𝜆 − 𝑍𝑍), where (𝑋𝑋, 𝑌𝑌, 𝑍𝑍)are world coordinates,
𝜆𝜆 𝜆𝜆

𝜆𝜆is focal length and (𝑥𝑥𝑜𝑜 , 𝑦𝑦𝑜𝑜 ) is image coordinates. Using these two equations we get,
X = 0.25 - 2.5Z, Y = 0.5 − 5Z

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QUESTION 9:
The following figure shows an Original Image (Before transformation) in dotted lines and faded
colors and a transformed image in solid lines and dark colors. Choose the correct transformation
matrix

cos 𝜙𝜙 −sin 𝜙𝜙 0
a) � sin 𝜙𝜙 cos 𝜙𝜙 0�
0 0 1

1 tan 𝜙𝜙 0
b) �0 1 0�
0 0 1

1 0 0
c) �tan 𝜙𝜙 1 0�
0 0 1

cos 𝜙𝜙 sin 𝜙𝜙 0
d) �−sin 𝜙𝜙 cos 𝜙𝜙 0�
0 0 1

Correct Answer: b
Detailed Solution:

Let x’, y’ be transformed coordinates and x,y be original coordinates. Then,

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𝑚𝑚𝑚𝑚′ 𝑎𝑎 𝑏𝑏 𝑐𝑐 𝑥𝑥
�𝑚𝑚𝑚𝑚′� = �𝑑𝑑 𝑒𝑒 𝑓𝑓 � �𝑦𝑦�
𝑚𝑚 𝑔𝑔 ℎ 𝑖𝑖 1
Pixel location in Original (x,y) -> Pixel location in transformed Image (x’,y’)
(0,0) -> (0,0)
(1,0) -> (1,0)
(0,1) -> (tan 𝜙𝜙, 1)
(1,1) -> (1+tan 𝜙𝜙,1)
Using above mappings and solving the equations yields
𝑚𝑚𝑚𝑚′ 𝑚𝑚 mtan 𝜙𝜙 0 𝑥𝑥
�𝑚𝑚𝑚𝑚′� = � 0 𝑚𝑚 0 � �𝑦𝑦�
𝑚𝑚 0 0 𝑚𝑚 1

Since m is free to assume any value, m=1 yields option b.

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Indian Institute of Technology Kharagpur

QUESTION 10:
The following figure shows an Original Image (Before transformation) in dotted lines and faded
colors and a transformed image in solid lines and dark colors. Choose the correct transformation
matrix

cos 𝛹𝛹 −sin 𝛹𝛹 0
a) � sin 𝛹𝛹 cos 𝛹𝛹 0�
0 0 1

1 tan 𝛹𝛹 0
b) �0 1 0�
0 0 1

1 0 0
c) �tan 𝛹𝛹 1 0�
0 0 1

cos 𝛹𝛹 sin 𝛹𝛹 0
d) �−sin 𝛹𝛹 cos 𝛹𝛹 0�
0 0 1

Correct Answer: c
Detailed Solution:
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Let x’, y’ be transformed coordinates and x,y be original coordinates. Then,

𝑚𝑚𝑚𝑚′ 𝑎𝑎 𝑏𝑏 𝑐𝑐 𝑥𝑥
�𝑚𝑚𝑚𝑚′� = �𝑑𝑑 𝑒𝑒 𝑓𝑓 � �𝑦𝑦�
𝑚𝑚 𝑔𝑔 ℎ 𝑖𝑖 1
Pixel location in Original (x,y) -> Pixel location in transformed Image (x’,y’)
(0,0) -> (0,0)
(1,0) -> (1, tan 𝛹𝛹)
(0,1) -> (0,1)
(1,1) -> (1, 1+tan 𝛹𝛹)
Using above mappings and solving the equations yields
𝑚𝑚𝑚𝑚′ 𝑚𝑚 0 0 𝑥𝑥
�𝑚𝑚𝑚𝑚′� = �mtan 𝛹𝛹 𝑚𝑚 0 � �𝑦𝑦�
𝑚𝑚 0 0 𝑚𝑚 1

Since m is free to assume any value, m=1 yields option c.

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