Image Acquisition and Camera Model
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1 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Image Acquiition and Camea Model Hai ao /9/3 /4/3
2 Human viual tem Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz he main component o the ee (coute o Foth and Ponce, epint om ompon et al., 966)
3 Human viual tem Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Rod and cone. Let: the ditibution o od and cone aco the etina. Right: (a) cone in the ovea; (b) od and cone in the peiphe (coute o Foth and Ponce, epint om Wandell, 995). Blind pot - ganglion cell aon eit etina. In the ovea, the denit o cone eache.6 5 /mm. Cone le enitive to light, but moe neve connection and high patial eolution. Rod ve enitive to light, but with low patial eolution becaue man od connection to a ingle neuon.
4 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Pinhole camea Fo a ideal pinhole camea, a ingle a om an cene point each the image plane to om an inveted image. heeoe the image i hap he ame image can be obtained on a vitual image plane in ont o the pinhole he pinhole 3D-to-D pojection i called a pepective pojection Small pinhole allow mall amount o light to pa though, eal camea ue ophiticated optic to ovecome thi poblem
5 hin lene the undamental equation Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Baic popetie An a paallel to the optical ai on one ide pa though the ocu on the othe ide and vice vea A thin len ocue all the a om one point onto the ame point he Fundamental equation o thin lene z z Can be teated a a pinhole camea with pincipal a paing though the cente o the len α
6 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz hin lene ield o view (FOV) Detemined b the ocal length and the eective aea o the etina (o CCD, ilm, etc) Deinition d the eective diamete o the eno/len ocal length /d F numbe FOV - φ (coute o Foth and Ponce)
7 Camea geomet Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz 3D camea coodinate tem O X p o P
8 Camea geomet Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Pepective camea model - a 3D point P[X,,] i pojected on to the image plane at a point p[,,], then X p p p P O
9 Camea geomet Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Othogaphic camea model X Weak-pepective camea model - a 3D point P[X,,] with cloe to pojected on to the image plane at a point p[,,]. It i a LINEAR elation! A good appoimation o pepective camea when elie o the cene i hallow, i.e., / i mall. X
10 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Sening CCD camea chage-coupled-device Rectangula gid o electon-collection ite made on the wae Photon tike the ilicon and the electon ae geneated, which ae collected ove a ied peiod o time Chage coupling: change packet ae taneed om ite to ite Output one ow at a time (coute o Foth and Ponce)
11 Image coodinate tem Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz he tanomation between p[,,] to p im [ im, im ], whee im and im ae image coodinate in piel unit. i the numbe o piel pe unit length along diection, i the numbe o piel pe unit length at diection. Fo CCD with quae piel O X p o P o p X im im + u + v o p im X im im
12 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Homogeneou coodinate tem and the camea model Homogeneou coodinate o a D point [,] i [,,]. Homogeneou coodinate [,,] and and it caled veion [λ, λ, λ] epeent the ame D point. hi i alo egaded a equal up to a cale, o [,,] [λ, λ, λ] Homogeneou coodinate o a 3D point [X,,] i [X,,,]. Homogeneou coodinate [X,,,] and and it caled veion [λx, λ, λ, λ] epeent the ame 3D point, o [X,,,] [λx, λ, λ, λ]
13 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Camea model Since and theeoe i oten witten a, imilal, i witten a. i called the camea mati. he intinic camea paamete ae ocal length,, and the pincipal point., ae meaued in piel v u im im / / / X X v u im im v u K ], [ u v
14 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Wold coodinate tem and camea coodinate tem he tanomation i Pc R( Pw ), o in homogeneou coodinate epeentation X c c c [ R, R] R i a othonomal mati with 3 degee o eedom. X w w w w R, c O c X w P X c O w O c c w
15 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Wold coodinate tem and camea coodinate tem What i O c in the wold coodinate tem? Since [,,] R(O c ), theeoe O c What i O w in the camea coodinate tem? Since R( ), theeoe O w -R What ae the ae o the camea coodinate tem in the wold coodinate tem? Since R[,,], theeoe R [,,],which i the it ow o R, and o on. What ae the ae o the wold coodinate tem in the camea coodinate tem? R[,,], which i the it column o the R. Simila o, and z.
16 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Pepective pojection Remembe that in the camea coodinate tem heeoe o a 3D point P in the wold coodinate tem, it image coodinate ae o moe conciel. R and ae called the camea motion o etinic camea paamete. i called the pojection mati. c c c im im X v u [ ], w w w im im X R R K [ ]P R R K p, [ ] R R K M,
17 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Weak-Pepective camea Fo weak-pepective camea, we have In addition, whee heeoe c c im im X v u w w w c c X X w w w c c X v u X R 3
18 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Othogaphic camea and geneal aine camea he it two ow othogonal to each othe (ecept o the lat column) Othogaphic camea Geneal aine camea + + v u v u M 3 t m m m t m m m M + + v u M
19 hin lene - adiomet Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz he undamental equation o adiometic image omation E π d 4 [ co α L 4 ] L cene adiance at a point (powe o light pe unit aea, pe time unit, pe unit olid angle) E image iadiance (powe o light pe unit aea, pe time unit, on the image plane) α
20 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz hin lene - adiomet Remak Image i dake aound the bode Smalle the F numbe, the bighte the image.
21 Chomatic abeation Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz he inde o eaction depend on the wavelength o the light light a o dieent colo emitted om a ingle cene point ollow dieent path and will not meet at the ame point (coute o Foth and Ponce, epint om Nav 969)
22 Len ditotion Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Real length can be bette modeled uing thick len model Geometic ditotion caued b dieence in ocal length at dieent pat o the len Bael ditotion can be modeled uing imple adial unction with the elation 4 ( + k + k ) whee d + d d d ( + k + k 4 ) o p d o p Nominal image Bael ditotion
23 Len ditotion Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Eample Oiginal image with len ditotion Coected with k., k.9 (coute o Shawn Becke)
24 Still camea and video camea Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Still camea Film camea eective eolution i appoimatel 6, b 4, piel Digital camea M piel (low end), M pile (midange), bette optic and eolution (high end), pice i dopping Video camea Analog video camcode (VHS, Hi8, etc), need ame gabbe (intenal PCI boad o etenal convete) o digitization. (eolution 6448 o 7486 depend on ame gabbe) Digital video camcode (eolution 6448 ) - Stoe on digital media uch a Mini DV - Output digital video - USB. Mbp, FieWie 4Mbp, USB. 48 Mbp Web cam low image qualit, low pice Indut video camea vaiou pec
25 Acquiing high qualit image and video Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Main element o a camea Len contolled b ocuing ing and zoom Apetue contolled b apetue ing Shutte peed contol Goal Find the combination that achieve hapet image o the laget ange o cene with coect epoue len apetue hutte (epint om he Complete Kodak Book o Photogaph) len apetue hutte
26 Focu Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Manual ocu and auto ocu I ocued at cloe ditance, onl a hallow pat o the cene appea hap. (epint om he Complete Kodak Book o Photogaph)
27 Shutte peed Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz he amount o time a ilm/ccd i epoed to the light A low hutte peed caue motion blu /6 o / i good o common tak /3 ec /5 /5 (epint om he Complete Kodak Book o Photogaph)
28 Apetue Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz Opening o the length, uuall ha the cale o /.4, /.4, /, /.8, /4, /5.6, /8, /, /6, /. he numbe get bigge, the apetue opening get malle Smalle apetue mean hape image (pinhole camea) / /5.6 /6 (epint om he Complete Kodak Book o Photogaph)
29 Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz ip Unwanted camea motion duing the epoue can be educed b holding the camea till o uing a tipod Uing lighting equipment to achieve mall apetue+at hutte peed
30 Homewok Depatment o Compute Engineeing Univeit o Calionia at Santa Cuz A camea ha the ollowing intinic camea mati. I it i alo known that the ize o the output image i 6448 piel, what i the ocal length (in piel)? What i the ield o view o the camea? K 3 4
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