Nptel Online Certification Course: Computer Vision

Week 3: Single View Camera Geometry

Type of questions: MCQ/MSQ
Number of questions: 10 Total marks: 10 X 2 = 20

QUESTION 1:
 
 1 0 1 0
Consider a projection matrix P = −1 1 3 0, evaluate the camera centre in
 
2 0 −1 1
 
homogeneous coordinates.

a) (−2/3, 0, 1/3, 1)

b) (2/3, 0, −1/3, 1)

c) (0.5, 0, −0.5, 1)

d) (0.5, 0, 0.5, 1)

Correct Answer: a
Detailed Solution: Considering the left 3x3 sub matrix of P as M and last column of P as
p4 , camera center is given by C = (−M −1 p4 , 1)

QUESTION 2:
If the principal point is located at (3, 4) in the coordinate system of the image plane, what
would be the image coordinates of the world point (1, 2, 5), using a pin hole camera with
focal length f = 0.5?

a) (2.3, 4.4)

b) (3.3, 3.4)

c) (3.3, 4.2)

d) (2.3, 3.4)

Correct Answer: c
Detailed Solution: If the origin of image plane is not at the principal point, then the
mapping from world coordinates (X, Y, Z) to image coordinates (x, y) with principal
point at (p x , py ) is given by (( f X/Z) + p x , ( f Y/Z) + py )

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 QUESTION 3: Type: MCQ
Find out the direction
 of principal axis of the camera with projection matrix P =
 9 6 −1 7
−2 5 9 0
 
2 0 0 1
a) (2, 0, 1)

b) (9, −2, 1)

c) (2, 0, 0)

d) (7, 0, 1)

Correct Answer: c
Detailed Solution: The direction of principal axis is given by m3 (first three values of third
row)

QUESTION 4: Type: MCQ

 
8 3 4 0
A projective camera P = 1 −5 9 0 images a 3D line L as l = (5, 2, 7). Compute the
 
2 1 7 0
 
plane formed by projected line l and camera center.

a) (56, 24, 27, 0)

b) (56, 12, 87, 0)

c) (8, 12, 12.5, 0)

d) (14, 74, 39, 0)

Correct Answer: b
Detailed Solution: Plane formed by the camera center C and l is given as PT l.

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QUESTION 5: Type:MCQ
Conside a camera centric world coordinate system with the image plane parallel to principal
plane and its x and y coordinate axes are parallel to those of world coordinate system
respectively. If the principal point is located at (2, 5) in the coordinate system of the image
plane, what would be the projection matrix of a pin hole camera with focal length f = 3?
 
3 0 2 0
a) 0 3 5 0
 
0 0 1 0
 
 
2 0 3 2
b) 0 2 5 0
 
0 0 1 0
 
 
3 0 3 0
c) 0 3 5 0
 
0 0 0 0
 
 
3 0 2 3
d) 0 3 5 0
 
0 0 1 0
 

Correct Answer: a
Detailed Solution: For a pin hole camera with focal length f and offset p x and py , projection
 
 f 0 p x 0
matrix is given by  0 f py 0
 
0 0 1 0
 

QUESTION 6: Type: MCQ

 
7 4 9 0
Consider that the camera projection matrix P = 2 3 6 0, two image points x1 = (2, 5), x2
 
1 5 8 0
 
= (7, 9) and the camera center O. Find the unit normal to plane Ox1 x2 .
a) (−0.70, 0.70, 0.16)
b) (−0.07, 0.95, 0.32)
c) (0.20, 0.50, 0.84)
d) (0.38, 0.86, 0.126)
Correct Answer: c
Detailed Solution: Normal to the plane Ox1 x2 is given as PT (x1 × x2 ). Unit vector is
obtained by dividing the vector with its magnitude.

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QUESTION 7:
Note: Perspective projective mapping is imaging the 3D world coordinates to an image plane
using a projective camera where all the rays pass through a camera center. Consider the
camera center is at (0, 0, 0) and the image plane is parallel to XY plane and at a distance of f
from it.
The Perspective projective mapping from world coordinates (1, 4, 5) to image coordinates,
using a camera with focal length f = 0.25, is

a) (1/6, 1/3)

b) (1/20, 1/5)

c) (1/3, 1/6)

d) (1/6, 1/2)

Correct Answer: b
Detailed Solution: Perspective projective mapping of world coordinates (X, Y, Z) is given
by ( f X/Z, f Y/Z).

QUESTION 8:
 
1 0 3 0
Given a projection matrix P = 2 1 2 0, compute the vanishing point of a line in image
 
3 0 −1 1
 
coordinates with direction ratio 4 : 3 : 2.

a) (1, 1.5)

b) (2, 5)

c) (4, 10)

d) (1.33, 3.33)

Correct Answer: a
Detailed Solution: Vanishing point of the line with direction ratio a : b : c = P(a, b, c, 0)T .

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QUESTION 9:
 
3 5 4 0
A projective camera P = 1 3 2 0 images a 3D line L as l = (1, 2, 3). Compute the plane
 
2 1 1 0
 
formed by projected line l and camera center.

a) (16, 24, 25, 0)

b) (8, 12, 12.5, 0)

c) (6, 4, 5, 0)

d) (11, 14, 11, 0)

Correct Answer: d
Detailed Solution: Plane formed by the camera center C and l is given as PT l.

QUESTION 10:
Find  out the principal
 point in 2D real space and principal axis vector of the camera matrix P
−3 −6 −8 0
=  2 5 7 0
 
1 2 0 1
 

a) (−3, 2.4), k(1, 2, 0), where k is an integer

b) (0, 2), k(−2, 0, 3), where k is an integer

c) (2, 2), k(−2, 0, 1), where k is an integer

d) (0, 0), k(−2, 0, 2), where k is an integer

Correct Answer: a
Detailed Solution: Principal point of the camera is given by Mm3 , where M and m3T are
left hand 3x3 and third row of M. The principal axis vector is given by km3 where k is an
integer.