Camera Geometry II. COS 429 Princeton University
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1 Camera Geometry II COS 429 Princeton University
2 Outline Projective geometry Vanishing points Application: camera calibration Application: single-view metrology Epipolar geometry Application: stereo correspondence Application: structure from motion revisited
3 Outline Projective geometry Vanishing points Application: camera calibration Application: single-view metrology Epipolar geometry Application: stereo correspondence Application: structure from motion revisited
4 Review: Camera projection matrix Z Y X t r r r t r r r t r r r y x y y x x x PX intrinsic parameters extrinsic parameters world coordinate system camera coordinate system
5 Review: Camera parameters Intrinsic parameters Image center (p x,p y ) Focal length (f) Pixel magnification (m x,m y ) Skew (non-rectangular pixels) Radial distortion y y x x y x y x p f p f m m K t P K R
6 Review: Camera parameters Intrinsic parameters Principal point coordinates Focal length Pixel magnification Skew (non-rectangular pixels) Radial distortion Extrinsic parameters Rotation (R) and translation (t) relative to world coordinate system P K R t
7 Review: Camera calibration * * * * * * * * * * * * Z Y X y x X t x K R Source: D. Hoiem
8 Review: Camera calibration Given n points with known 3D coordinates X i and known image projections x i, estimate the camera parameters X i x i P
9 Camera calibration What if don t know correspondences? Can you determine the camera intrinsic parameters (focal length, center) or extrinsic parameters (rotation, translation)?
10 Camera calibration Let s see what we can get from vanishing points Vanishing line Vertical vanishing point (at infinity) Vanishing point Vanishing point Slide from Efros, Photo from Criminisi
11 Outline Projective geometry Vanishing points Application: camera calibration Application: single-view metrology Epipolar geometry Application: stereo correspondence Application: structure from motion revisited
12 Review: Vanishing Points Any set of parallel lines on a plane define a vanishing point The union of all of these vanishing points is the horizon line also called vanishing line Different planes (can) define different vanishing lines v l v 2 Noah Snavely
13 Review: Vanishing points image plane vanishing point v camera center line in the scene All lines having the same direction share the same vanishing point
14 Computing Vanishing Points How can we find lines in an image?
15 Computing Vanishing Points Edge detection Edges Papusha & Ho
16 Computing Vanishing Points Edge detection + Hough transform Strong Lines Hough Transform Papusha & Ho
17 Computing Vanishing Points v q q 2 p 2 For a set of parallel lines, how can we find where they intersect? p
18 Computing Vanishing Points v q q 2 p 2 p Intersect p q with p 2 q 2
19 Computing Vanishing Points v q q 2 p 2 p Intersect p q with p 2 q 2
20 Computing Vanishing Points v q q 2 p 2 p Intersect p q with p 2 q 2
21 Computing Vanishing Points v q q 2 p 2 p Intersect p q with p 2 q 2 Least squares version Better to use more than two lines and compute the closest point of intersection
22 Computing Vanishing Points Alternative: vanishing points can be extracted directly from Hough transform (fit sine curves) Strong Lines Hough Transform Papusha & Ho
23 Computing Vanishing Points Vanishing points can be extracted directly from Hough transform (fit sine curves) Hough Transform Strong Lines Papusha & Ho
24 Outline Projective geometry Vanishing points Application: camera calibration Application: single-view metrology Epipolar geometry Application: stereo correspondence Application: structure from motion revisited
25 Calibration from vanishing points What camera parameters can we calibrate using three orthogonal vanishing directions (points)? v 2. v 3 v
26 Calibration from vanishing points Let us align the world coordinate system with three orthogonal vanishing directions in the scene: Each pair of vanishing points gives us a constraint on the focal length and principal point 0 0, 0 0, e e e i i i KRe e t K R v 0 0, j T i i T i e e v K e R 0 j T T i j T T T i v K K v v K RR K v
27 Intrinsic calibration from vanishing points Cannot recover focal length, image center is the finite vanishing point Can solve for focal length, image center
28 Rotation from vanishing points Thus, Get λ by using the constraint r i 2 =. i i i KRe e t K R v ] [ r r r r Re v K. v i r i K
29 Calibration from vanishing points: Summary Solve for K (focal length, principal point) using three orthogonal vanishing points Get rotation directly from vanishing points once K is known Advantages No need for calibration chart (2D-3D correspondences) Could be completely automatic Disadvantages Only applies to certain kinds of scenes Inaccuracies in computation of vanishing points Problems due to infinite vanishing points
30 Outline Projective geometry Vanishing points Application: camera calibration Application: single-view metrology Epipolar geometry Application: stereo correspondence Application: structure from motion revisited
31 How Tall is the Man in this Image? Svetlana Lazebnik
32 How Tall is the Man in this Image? 0 meters Svetlana Lazebnik
33 How Tall is the Man in this Image? 0 meters Svetlana Lazebnik
34 How Tall is the Man in this Image? O Z 0 meters ground plane Goal: compute Z Problem: depends on camera angle and distance Svetlana Lazebnik
35 The cross-ratio A projective invariant: quantity that does not change under projective transformations (including perspective projection) The cross-ratio of four points: P 3 P P 4 P 2 P 3 P 2 P 4 P P 3 P 4 P 2 P Svetlana Lazebnik
36 Measuring height C b r t H T (top of object) R (reference point) R T B R R B T scene cross ratio t b r b v v Z Z r t image cross ratio H R H R v Z B (bottom of object) ground plane Svetlana Lazebnik
37 How Tall is the Man in this Image? 0 meters Svetlana Lazebnik
38 v z r vanishing line (horizon) v x v t 0 H t R H v y b 0 t r b b v v Z Z r t image cross ratio H R b Svetlana Lazebnik
39 2D lines in homogeneous coordinates Line equation: ax + by + c = 0 Line passing through two points: Intersection of two lines:, where 0 y x c b a T x l x l x x 2 l l l 2 x Svetlana Lazebnik
40 v z r vanishing line (horizon) v x v t 0 H t R H v y b 0 t r b b v v Z Z r t image cross ratio H R b Svetlana Lazebnik
41 How Long is this Line Segment? Can we measure distances between two points on same plane? Svetlana Lazebnik
42 How Long is this Line Segment? What if we know distances between some pairs of points on the same plane? Svetlana Lazebnik
43 Measurements on planes p p Approach: unwarp then measure What kind of warp is this? Svetlana Lazebnik
44 Measurements on planes p p Approach: unwarp then measure Homography! Svetlana Lazebnik
45 Application: Image rectification Piero della Francesca, Flagellation, ca. 455 Svetlana Lazebnik
46 Application: Image editing Inserting synthetic objects into images: K. Karsch and V. Hedau and D. Forsyth and D. Hoiem, Rendering Synthetic Objects into Legacy Photographs, SIGGRAPH Asia 20 Svetlana Lazebnik
47 Application: Object recognition D. Hoiem, A.A. Efros, and M. Hebert, "Putting Objects in Perspective", CVPR 2006 Svetlana Lazebnik
48 Outline Projective geometry Vanishing points Application: camera calibration Application: single-view metrology Epipolar geometry Application: stereo correspondence Application: structure from motion revisited
49 Correspondence constraints? Given p in left image, where can corresponding point p be? Kristen Grauman
50 Correspondence constraints? Kristen Grauman
51 Epipolar constraint Geometry of two views constrains where the corresponding pixel for some image point in the first view must occur in the second view. It must be on the line carved out by a plane connecting the world point and optical centers. Kristen Grauman
52 Epipolar geometry Epipolar Plane Epipolar Line Epipole Baseline Epipole Kristen Grauman
53 Epipolar geometry: terms Baseline: line joining the camera centers Epipole: point of intersection of baseline with image plane Epipolar plane: plane containing baseline and world point Epipolar line: intersection of epipolar plane with the image plane All epipolar lines intersect at the epipole An epipolar plane intersects the left and right image planes in epipolar lines Why is the epipolar constraint useful? Kristen Grauman
54 Epipolar constraint This is useful because it reduces the correspondence problem to a D search along an epipolar line. Image from Andrew Zisserman
55 Example Kristen Grauman
56 What do the epipolar lines look like?. O l O r 2. O l O r Kristen Grauman
57 Epipolar lines: converging cameras Figure from Hartley & Zisserman
58 Epipolar lines: parallel cameras Where are the epipoles? Figure from Hartley & Zisserman
59 Epipolar lines So far, we have the explanation in terms of geometry. Now, how to express the epipolar constraints algebraically? Kristen Grauman
60 Stereo geometry Main idea Kristen Grauman
61 Stereo geometry If the stereo rig is calibrated, we know : how to rotate and translate camera reference frame to get to camera reference frame 2. Rotation: 3 x 3 matrix R; translation: 3 vector T. Kristen Grauman
62 Stereo geometry If the stereo rig is calibrated, we know : how to rotate and translate camera reference frame to get to camera reference frame 2. X ' c RX c T Kristen Grauman
63 An aside: cross product Vector cross product takes two vectors and returns a third vector that s perpendicular to both inputs. So here, c is perpendicular to both a and b, which means the dot product = 0. Kristen Grauman
64 From geometry to algebra X' RX T TX Normal to the plane TRX TRX TT X T X X T RX 0 Kristen Grauman
65 Another aside: Matrix form of cross product Can be expressed as a matrix multiplication. c b b b a a a a a a b a a a a a a a a x Kristen Grauman
66 From geometry to algebra X' RX T TX Normal to the plane TRX TRX TT X T X X T RX 0 Kristen Grauman
67 Let X X T RX 0 [T ] RX 0 x E [T x] R X T EX 0 Essential matrix E is called the essential matrix, and it relates corresponding image points between both cameras, given the rotation and translation. If we observe a point in one image, its position in other image is constrained to lie on line defined by above. Note: these points are in camera coordinate systems. Kristen Grauman
68 Fundamental matrix Relates pixel coordinates in the two views p im, rightfp im, left 0 More general form than essential matrix: we remove need to know intrinsic parameters If we estimate fundamental matrix from correspondences in pixel coordinates, can reconstruct epipolar geometry without intrinsic or extrinsic parameters.
69 Fundamental Matrix, right c, left p c Ep 0 From before, the essential matrix E. M p E M p 0 p int,right im, right int,left im, left M EM p 0 im, right int,right int,left im, left F Fundamental matrix p im, rightfp im, left 0
70 Properties of the Fundamental Matrix is the epipolar line associated with T is the epipolar line associated with and is rank 2 p q F T q Fp e e 2
71 Estimating the Fundamental Matrix If we don t know K, K 2, R, or t, can we estimate F for two images? Yes, given enough correspondences
72 Estimating F 8-point algorithm The fundamental matrix F is defined by x' Fx 0 for any pair of matches x and x in two images. Let x=(u,v,) T and x =(u,v,) T, each match gives a linear equation f F f f 2 3 f f f f f f uu' f vu' f2 u' f3 uv' f2 vv' f22 v' f23 uf3 vf32 f33 0
73 f f f f f f f f f v u v v v v u u u v u u v u v v v v u u u v u u v u v v v u v u v u u u n n n n n n n n n n n n In reality, instead of solving, we seek f to minimize, least eigenvector of. 0 Af Af A A Estimating F 8-point algorithm
74 F should have rank 2 To enforce that F is of rank 2, F is replaced by F that minimizes subject to the rank constraint. F F' This is achieved by SVD. Let, where, let then is the solution. V U F Σ Σ Σ' 2 V U F Σ' ' Estimating F 8-point algorithm
75 Estimating F 8-point algorithm Pros: it is linear, easy to implement and fast Cons: susceptible to noise
76 Outline Projective geometry Vanishing points Application: camera calibration Application: single-view metrology Epipolar geometry Application: stereo correspondence Application: structure from motion revisited
77 Stereo Correspondence Goal: Find correspondences (pairs of points (u,v ) (u,v)). ) Find interest points in image 2) Compute correspondences 3) Compute epipolar geometry 4) Refine Example from Andrew Zisserman
78 Stereo Correspondence ) Find interest points
79 Stereo Correspondence 2) Match points within proximity to get putative matches
80 Stereo Correspondence 3) Compute epipolar geometry -- robustly with RANSAC Select random sample of putative correspondences Compute F using them - determines epipolar constraint Evaluate amount of support - inliers within threshold distance of epipolar line Choose F with most support (inliers)
81 Using window search to get putative matches: noisy, but enough to compute F using RANSAC Pruned matches: those consistent with epipolar geometry
82 Outline Projective geometry Vanishing points Application: camera calibration Application: single-view metrology Epipolar geometry Application: stereo correspondence Application: structure from motion revisited
83 Structure from Motion. Detect features using SIFT 2. Match features between pairs of images 3. Refine matching using RANSAC to find correspondences between each pair 4. Massive bundle adjustment Noah Snavely
84 Structure from Motion. Detect features using SIFT 2. Match features between pairs of images 3. Refine matching using RANSAC to find correspondences between each pair 4. Massive bundle adjustment Use fundamental matrix to detect inliers during RANSAC! Noah Snavely
85 Structure from Motion Results Noah Snavely
86 Structure from Motion Results Noah Snavely
87 Recap Projective geometry Vanishing points Application: camera calibration Application: single-view metrology Epipolar geometry Application: stereo correspondence Application: structure from motion revisited
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