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.
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In order to determine the size and distance of objects in the scene our brain uses a number of highly evolved tricks. Let’s look at some of these.
Let’s recap the important points from the topics we have covered about image formation and perspective projection.
The human eye is quite amazing, let’s look at its various components including the light sensitive rod and cone cells.
The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?
The light we see is a mixture of different wavelengths in the visible region of the electromagnetic spectrum. The most common source of light is incandescence from a very hot body such as our sun or the filament of an old-fashioned light bulb. The spectrum, the amount of energy as a function wavelength, follows Planck’s […]
We can also describe a blob by its contour or perimeter. Let’s look at how we determine the length of a blob’s perimeter using crack code and chain code. We can use the perimeter length to determine another scale and invariant shape parameter called circularity which indicates how compact, or circle-like, the blob is.
Let’s recap the important points from the topics we have covered about light, wavelength, spectrums, light sources, reflection, reflectance functions, cone cells, tristimulus and chromaticity space.
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 relationship between world coordinates, image coordinates and camera spatial velocity is elegantly summed up by a single matrix equation that involves what we call the image Jacobian.