Epipolar Geometry and the Fundamental Matrix F The Epipolar Geometry is the intrinsic projective...
-
date post
20-Dec-2015 -
Category
Documents
-
view
244 -
download
1
Transcript of Epipolar Geometry and the Fundamental Matrix F The Epipolar Geometry is the intrinsic projective...
Epipolar Geometry and the Fundamental Matrix F
The Epipolar Geometry is the intrinsic projective geometry between 2 views and the Fundamental Matrix encapsulates this
geometry
x F x’ = 0
Epipolar geometry
• The Epipolar geometry depends only on the internal parameters of the cameras and the relative pose.
• A point X in 3 space is imaged in 2 views: x and x’
• X, x, x’ and the camera centre C are coplanar in the plane
• The rays back-projected from x and x’ meet at X
Point correspondence geometry
Fig. 8.1
Point correspondence geometry
Epipolar GeometryFig. 8.2
Epipolar geometry
The geometric entities involved in epipolar geometry
Fig 8.3
Converging cameras
Fig 8.4
Motion parallel to the image plane
Geometric derivationFig. 8.5
Point transfer via a plane
The fundamental matrix F
• x l’
• Geometric Derivation
• Step 1: Point transfer via a plane
There is a 2D homography H mapping
each xi to xi’
Step 2: Constructing the epipolar line
Constructing the epipolar line
Cross products
• If a = ( a1, a2 , a3)T is a 3-vector, then one define a corresponding skew-sysmmetric matrix as follows:
0aa-
a-0a
aa-0
a
12
13
23
X
Cross products 2
• Matrix [a]x is singular and a is its null vector
• a x b = ( a2b3 - a3b2, a3b1 - a1b3 , a1b2 – a2b1)T
• a x b = [a]x b =( aT [b]x )T
Algebraic derivation
Algebraic derivation 2
Example 8.2
Example 8.2 b
Properties of the fundamental matrix (a)
Properties of the fundamental matrix (b)
Summary of the Properties of the fundamental matrix 1
Summary of the properties of the fundamental matrix 2
Epipolar line homography 1
Fig. 8.6a
Epipolar line homography 2
Fig. 8.6 b
Epipolar line homography
The epipolar line homography
A pure camera motion
Pure translation
Fig. 8.8
Pure translation motion
Example of pure translation
General camera motion
Fig. 8.9
General camera motion
Example of general motion
Pure planar motion
Retrieving the camera matricesUsing F to determine the camera matrices of 2 views
• Projective invariance and canonical cameras• Since the relationships l’ = Fx and• x’ F x = 0 are projective relationships• which
Projective invariance and canonical cameras
• The camera matrix relates 3-space measurements to image measurements and so depends on both the image coordinate frame and the choice of world coordinate frame.
• F is unchanged by a projective transformation of 3-space.
Projective invariance and canonical cameras 2
Canonical form camera matrices
Projective ambiguity of cameras given F
Projective ambiguity of cameras given F2
Projective ambiguity of cameras given F3
Canonical cameras given F
Canonical cameras given F 2
Canonical cameras given F 3
Canonical cameras given F 4
The Essential Matrix
Normalized Coordinates
Normalized coordinates 2
Normalized coordinates 3
Properties of the Essential Matrix
Result 8.17 on Essential matrix
Result 8.17 on Essential matrix 2
Extraction of cameras from the Essential Matrix
Determine the t part of the camera matrix P’
Result 8.19
Geometrical interpretation of the four solutions
Geometrical interpretation of the four solutions 2
The 4 possible solutions for calibrated reconstruction from E