Let’s look at how light rays reflected from an object can form an image. We use the simple geometry of a pinhole camera to describe how points in a three-dimensional scene are projected on to a two-dimensional image plane.
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The linear algebra approach we’ve discussed is very well suited to MATLAB implementation. Let’s look at some toolbox functions that can simulate what cameras do. If you are using a more recent version of MVTB, ie. MVTB 4.x then please change>> cam.project(PW ‘Tcam’, transl(0.1, 0, 0)) to >> cam.project(PW ‘pose’, transl(0.1, 0, 0)).
When a camera moves in the world, points in the image move in a very specific way. The image plane or pixel velocity is a function of the camera‘s motion and the position of the points in the world. This is known as optical flow. Let’s explore the link between camera and image motion.
The relationship between world coordinates, image coordinates and camera spatial velocity has some interesting ramifications. Some very different camera motions cause identical motion of points in the image, and some camera motions leads to no change in the image at all in some parts of the image. Let’s explore at these phenomena and how we […]
Most computers today have a built-in camera. Let’s look at how we can grab images directly from such a camera and put them in the MATLAB workspace.
The image Jacobian depends not only on the image plane coordinates but also the distance from the camera to the points of interest. If this distance is not known, what can we do? Let’s look at how we can determine this distance, and how the optical flow equation can be rearranged to convert from observed […]
The pinhole or lensed camera is very similar to our eye, but there are lots of other ways to build a camera.
An important problem in robotic vision is moving a camera so that the view it sees matches the view we want it to have. To achieve this we exploit knowledge about how an image changes as a camera moves. Then we invert that and compute how the camera should move so the image changes in […]
One very powerful trick used by humans is binocular vision. The images from each eye are quite similar, but there is a small horizontal shift, a disparity, between them and that shift is a function of the object distance.
The pinhole camera simplifies the geometry but in practice it results in very dark images. Cameras, as well as our eyes, use a lens to form a brighter image but there are consequences.