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    Imaging Geometry

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    Deepa Nair
    Digital images can be represented as 2D functions or matrices where each element corresponds to a pixel location and value. Common image transformations include translation, scaling, and rotation which can be represented by transformation matrices. Perspective transformation models the imaging process where 3D points are projected onto an image plane. Stereo imaging uses two camera views to recover depth information by finding corresponding points across the two images.

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    Imaging Geometry

    Uploaded by

    Deepa Nair
    71 views34 pages
    Digital images can be represented as 2D functions or matrices where each element corresponds to a pixel location and value. Common image transformations include translation, scaling, and rotation which can be represented by transformation matrices. Perspective transformation models the imaging process where 3D points are projected onto an image plane. Stereo imaging uses two camera views to recover depth information by finding corresponding points across the two images.

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    Imaging geometry in Digital Image Processing

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    Digital images can be represented as 2D functions or matrices where each element corresponds to a pixel location and value. Common image transformations include translation, scaling, and rotation which can be represented by transformation matrices. Perspective transformation models the imaging process where 3D points are projected onto an image plane. Stereo imaging uses two camera views to recover depth information by finding corresponding points across the two images.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    71 views34 pages

    Imaging Geometry

    Uploaded by

    Deepa Nair
    Digital images can be represented as 2D functions or matrices where each element corresponds to a pixel location and value. Common image transformations include translation, scaling, and rotation which can be represented by transformation matrices. Perspective transformation models the imaging process where 3D points are projected onto an image plane. Stereo imaging uses two camera views to recover depth information by finding corresponding points across the two images.

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    © All Rights Reserved
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    of 34

    Digital Image

    and
    Imaging Geometry
    What is a Digital Image?
    • A 2D function f(x,y)
    • Spatial(plane) coordinates x,y
    • Amplitude of f at any coordinate is the intensity or
    gray level
    • A digital image is composed of finite number of
    elements each of which has a particular location and
    value.
    • Picture elements - Pixels
    Matrix representation of an MxN image
    An image of size M x N pixels
    ie., M rows, N columns
    1-D function representation

    y
    * y=f(x)

    x
    2-D Function Representation

    2
    2 3 2

    2
    Imaging Geometry

    • Transformations used in imaging


    • Camera model
    • Stereo imaging problem
    Basic Transformations
    • Unified representations for problems like
    • Image rotation
    • Image scaling
    • image translation

    • All transformations are expressed in 3D cartesian coordinate system


    • A point has coordinates (X,Y,Z)
    • World coordinates

    2D coordinates (x,y)
    Translation
    Translation
    The task:
    (X0,Y0,Z0)
    (X,Y,Z) (X*,Y*,Z*)

    X* = X+ X0
    y* = y+ y0
    Z* = Z+ Z0

    v* = Av
    A - Transformation matrix
    v – column vector with original coordinates
    Translation
    Use of square matrix simplifies the representation

    v* = Tv
    T - Translation matrix
    v – column vector with original coordinates
    Scaling
    Scaling

    • Scaling by Sx, Sy, Sz in directions X,Y,Z is given by the transformation matrix

    • Can you write the matrix equation for scaling operation?


    Rotation
    Consider a 2D case where you have a point (x,y) and you want to
    rotate to θ degrees counter clockwise to get x′,y′).
    • Convert to polar coorindates. (x’,y’)
    x=rcos(α) r (x,y)
    y=rsin(α) θ r rsin(α)
    rcos(α)
    • Rotate by θ degrees counterclockwise and covert back to Cartesian
    coordiantes.
    x′= rcos(α + θ)
    = rcos(α)cos(θ) − rsin(α)sin(θ)
    So x’= xcos(θ) − ysin(θ)
    similarly y′ = xsin(θ) + ycos(θ)
    Rotation
    • In Geometry, any rotation is a motion of a certain space that
    preserves at least one point.
    • In two dimensions, the point (x, y) to be rotated
    counterclockwise is written as a column vector, then multiplied
    by a rotation matrix.
    • To rotate by θ,
    • x′= xcos(θ) − ysin(θ)
    • y′= xsin(θ) + ycos(θ)
    Rotation of a point
    Rotation of a point about each Rotation of a point about Z
    Coordinate axis in clockwise coordinate axis by θ is achieved by
    direction when looking at the using the transformation matrix
    origin from the point on Z axis.
    Concatenation
    Translation, rotation and scaling are linear transformations.

    • The application of several transformations can be represented by a single


    4x4 matrix.
    • Ex. Translation, scaling and rotation about Z axis of a point v can be
    represented as follows.

    • Non-commutable matrices. So order is important.


    Inverse transformation matrix
    • Many of the transformations discussed have inverse matrices that perform the
    opposite transformation.
    Ex. Translation matrix

    Inverse translation matrix


    Perspective Transformation
    (Imaging Transformation)
    • Projects 3D points into a plane
    • Provide an approximation to the manner in which an image is formed
    by viewing a 3D world.

    Image formation in the eye


    Basic model of imaging process
    • world coordinate system (X,Y,Z)

    • Camera coordinate system (x,y,z)


    • The image plane coincides with XY plane
    • The optical axis established by the centre of the lens, along the z axis.
    • The centre of the image plane is at origin.
    • Centre of the lens is at (0,0,λ).
    • Here λ is the focal length of the lens.

    Assumption:
    • Camera coordinate system is
    aligned with world coordinate system
    • Z > λ always.
    The image plane coordinates (x,y) of the projected 3D
    point at (X,Y,Z)
    Non-linear because of the division by coordinate Z
    Homogeneous coordinates
    Cartesian coordinates Homogeneous coordinates

    k is an arbitrary non-zero constant.


    Perspective transformation
    • To obtain 2D coordinates from 3D coordinates,
    Define a perspective transformation Matrix
    Camera coordinates
    in homogeneous form
    Cartesian coordinates of any point in camera
    coordinate system
    By dividing the first three element by the fourth in the previous matrix,

    The third component z is


    of no interest now
    Inverse Perspective Transformation

    Perspective transformation The inverse perspective


    matrix transformation matrix maps
    an image point back into 3D
    Recovering 3D coordinates
    • Suppose the image point has coordinates (x0,y0,0)
    • 0 is the z location -> image plane is located at z=0.
    • Obtain homogeneous coordinates

    • Cartesian coordinates
    Difficulty in Inverse perspective
    transformation
    • For any 3D point, Z=0.
    • This is because the projection of a 3D point onto the image plane is a
    many-to-one transformation.
    • The image point (x0,y0)
    corresponds to a set of collinear
    3D points that lie on the line passing
    through (x0,y0,0) and (0,0,λ).
    Recovering 3D coordinates
    • The equations of the line mentioned above in world coordinate system

    • Recovering a 3D point from its image


    using inverse perspective transformation requires
    knowledge of at least one of the world coordinates of the point.
    Stereo Imaging
    • Mapping of a 3D scene onto an image plane is a many to one
    transformation.
    • An image point does not uniquely determine the location of the
    corresponding world point.
    • The missing depth information can be obtained using stereoscopic
    imaging techniques.
    • Get two separate image views of a single world point w
    • The objective: Find (X,Y,Z) of the point w having image points (x1,y1)
    and (x2,y2).
    Model of the stereo imaging process
    • The objective: Find (X,Y,Z) of the point w having image points (x1,y1) and (x2,y2).
    • The assumption:
    • The cameras are identical.
    • The coordinate system of both cameras
    are perfectly aligned

    Difficulty: Finding two corresponding points


    in different images of the same scene.
    Approach: Select a point in a small region in
    one image view and find the best matching
    region in the other image using correlation techniques.
    Camera model assuming both the coordinate
    systems coincide
    • Basic equations representing the mathematical model of an imaging
    camera
    General Imaging geometry with two
    coordinate systems
    • Camera coordinates (x,y,z)
    • World coordinates (X,Y,Z)
    • 3D point w
    • point on imaging plane c
    • Pan- angle between x and X axis
    • Tilt - angle between z and Z axis
    • Offset of the mount from the origin
    Of the world coordinate system
    The method –
    Align camera and world coordinate system
    Apply perspective transformation to get (x,y)

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