Metrology 1.Perspective distortion. 2.Depth is lost.

Measure with Reference

Geometric Cues - Projections

Points: 2D Coordinates

Lines: 2D Coordinates

Homogeneous Coordinates

Join = Cross Product.

Vanishing Points and Lines

Joining Parallel Lines?

Determinants (Method 1)

Multiple Lines

Homogenous Equations (Method 2)

Solving Homogenous Equations

2D Transforms

Homography  Homography is a concept in the mathematical science of geometry. A homography is an invertible transformation from the real projective plane to the projective plane that maps straight lines to straight lines. mathematicalgeometryreal projective plane  Synonym: Projective transformation

Rectification

Homography Matrix

Homography Estimation

Homography Estimation: Minimum Requirement 8 Unknowns 4 Correspondences Sufficient to Solve.

Applications of Homography  In the field of computer vision, any two images of the same planar surface in space are related by a homography (assuming a pinhole camera model).computer visionpinhole camera model  This has many practical applications, such as image rectification, image registration, or computation of camera motion (rotation and translation) between two images. image rectificationimage registration

Feature Matching or Example Feature Detection Methods:

Feature Matching