1. WEEK 10: WEB-ASSISTED OBJECT DETECTION ALEJANDRO TORROELLA & AMIR R. ZAMIR

2. SENSOR MODEL: PERSPECTIVE PROJECTION CONCEPT

3. SENSOR MODEL: PERSPECTIVE PROJECTION ISSUES Correct order of multiplication of the rotation matrices is still unknown. Different resources I’ve looked at specify different orders Making sense of the order by myself didn’t result in better results for all of the images Assumptions about roll and pitch could be completely wrong, which might contribute to large error Conversion from Geodetic to Cartesian coordinates could also be the problem. Might have to look into alternative methods of obtaining XYZ coordinates with respect to the camera.

4. ALTERNATIVE SENSOR MODEL Z = d*cos( θ) X = d*sin( θ) Y = defined height of the object in question Use these as the XYZ coordinates to project onto the image plane, no rotations or translations dependent on converted geodetic to Cartesian coordinates. Z X d θ

5. GOALS FOR NEXT WEEK Fix bugs with the implementation of the sensor model Rotation order needs to be finalized Assumptions need to as error free as possible If all else fails, there might be something fundamentally wrong with the XYZ points we are getting from the geodetic data.

6. THANK YOU FIN.