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Computer Vision

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6 views

Computer Vision

Uploaded by

Yohannes
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Computer Vision

Introduction
 Ifa robot is to interact with its environment, then
the robot must be able to sense its environment
 One way is through vision
 For example, through vision a system can locate
objects on a conveyor belt, and determine the
positions and orientations of those objects
 Then this information can be used to determine the
inverse kinematics
The Geometry of Image Formation
 A digital image is a two-dimensional array of
pixels that is formed by focusing (using a lens)
light onto a two-dimensional array of sensing
elements
 One type of sensing elements charge coupled
devices
 The image formation follows by measuring, levels
of brightness (usually between 0 and 255)
The Geometry of Image Formation
 inorder to simplify the equations involved, we
assign a camera coordinate frame as follows
 Define an image plane as the plane that contains
the sensing array
The origin of the camera frame is located at a distance λ
behind the image plane
11_01

This point is also referred to as the center of projection


Perspective Projection
The image formation process is often modeled by the
pinhole lens approximation
• Let P be a point in the world with coordinates x, y, z
(relative to the camera frame).
• Let p denote the projection of P onto the image plane with
coordinates (u, v, λ)
For pinhole approximation, P, p and the center of projection
will be co-linear.
• For some positive k, one can have
Perspective Projection
which can also be rewritten as

If we take , then we can have

These are well-known equations for perspective


projection
The Image Plane and the Sensor Array
• Let (r, c) denote the row and column indices for a pixel by
the coordinates.
• To relate image plane coordinates, (u, v), we define the
origin of the pixel array to be located at a corner of the
image
• Let the pixel array coordinates of the pixel that contains the
principal point be given by (or, oc).
• Also denote sx and sy to be the horizontal and vertical
dimensions (respectively) of a pixel
• Then, the relation between the image plane and the pixel
array coordinates will be
Camera Calibration
• to determine all of the parameters that are necessary to predict
the image pixel coordinates (r, c) of the projection of a point
in the camera’s field of view, given that the coordinates of
that point with respect to the world coordinate frame are
known
• Depending upon the point of view, we have extrinsic and
intrinsic parameters of the camera
Extrinsic Camera Parameters
 • In robotics, tasks are expressed in terms of the world
coordinate frame
• If we know the position and orientation of the camera frame
relative to the world coordinate frame we have

• If we know , can be computed as


Intrinsic Camera Parameters
• the coordinates of a point expressed with respect to the
camera frame to the corresponding pixel coordinates

• once we know the values of the parameters λ, sx, or, sy, oc we


can determine (r, c) from (x, y, z)

• fx, or, fy, oc are known as the intrinsic parameters of the


camera
Determining the Camera Parameters
• The task of camera calibration is to determine the intrinsic
and extrinsic parameters of the camera
• the first step in this stage of calibration is to acquire a data
set of the form r1, c1, x1, y1, z1, r2, c2, x2, y2, z2, · · · rN, cN, xN,
yN, zN,
• where ri, ci are the image pixel coordinates of the projection
of a point in the world with coordinates xi, yi, zi relative to
the world coordinate frame
• The exterinsic parameters of the camera are given by
difference
Determining the Camera Parameters
• With respect to the camera frame

• Which then can be combined with intrinsic parameters as

• For the data points ri, ci, xi, yi, zi, the above equation can be
further reduced to

• With , we have
Segmentation by Thresholding

11_02
Connected Components

11_03
Connected Components

11_04

of above figure
Position and Orientation

To find the position


11_05
and orientation
• Moments of the
object
• Cetroid of the
object
• Orientation of the
object

of above figure

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