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GEOMETRIC CAMERA MODELS
Elements of Euclidean Geometry The Intrinsic Parameters of a Camera The Extrinsic Parameters of a Camera The General Form of the Perspective Projection Equation Reading: Chapter 2.
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Quantitative Measurements and Calibration
Euclidean Geometry
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Euclidean Coordinate Systems
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Planes
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OBP = OBOA + OAP , BP = AP + BOA
Coordinate Changes: Pure Translations OBP = OBOA + OAP , BP = AP + BOA
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Coordinate Changes: Pure Rotations
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Coordinate Changes: Rotations about the z Axis
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A rotation matrix is characterized by the following properties:
Its inverse is equal to its transpose, and its determinant is equal to 1. Or equivalently: Its rows (or columns) form a right-handed orthonormal coordinate system.
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Coordinate Changes: Pure Rotations
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Coordinate Changes: Rigid Transformations
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Rigid Transformations as Mappings
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The Intrinsic Parameters of a Camera
Units: k,l : pixel/m f : m a,b : pixel Physical Image Coordinates Normalized Image Coordinates
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The Intrinsic Parameters of a Camera
Calibration Matrix The Perspective Projection Equation
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Extrinsic Parameters
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