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    EC-803 Computer Vision: Lecture-1

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    Syed Rizwan Haider
    This document summarizes the first lecture of the EC-803 Computer Vision course. It introduces basic 2D and 3D transformations including translation, scaling, rotation and their inverses. It discusses the perspective transformation and imaging process that projects 3D points to a 2D image plane. It also covers the relationship between Cartesian and homogeneous coordinate systems and describes the inverse perspective transformation that maps an image point back to the 3D world coordinates.

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    EC-803 Computer Vision: Lecture-1

    Uploaded by

    Syed Rizwan Haider
    24 views43 pages
    This document summarizes the first lecture of the EC-803 Computer Vision course. It introduces basic 2D and 3D transformations including translation, scaling, rotation and their inverses. It discusses the perspective transformation and imaging process that projects 3D points to a 2D image plane. It also covers the relationship between Cartesian and homogeneous coordinate systems and describes the inverse perspective transformation that maps an image point back to the 3D world coordinates.

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    CV2012_Lec_1

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    This document summarizes the first lecture of the EC-803 Computer Vision course. It introduces basic 2D and 3D transformations including translation, scaling, rotation and their inverses. It discusses the perspective transformation and imaging process that projects 3D points to a 2D image plane. It also covers the relationship between Cartesian and homogeneous coordinate systems and describes the inverse perspective transformation that maps an image point back to the 3D world coordinates.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    24 views43 pages

    EC-803 Computer Vision: Lecture-1

    Uploaded by

    Syed Rizwan Haider
    This document summarizes the first lecture of the EC-803 Computer Vision course. It introduces basic 2D and 3D transformations including translation, scaling, rotation and their inverses. It discusses the perspective transformation and imaging process that projects 3D points to a 2D image plane. It also covers the relationship between Cartesian and homogeneous coordinate systems and describes the inverse perspective transformation that maps an image point back to the 3D world coordinates.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 43

    EC-803 Computer Vision

    Lecture-1:
    Course Introduction Basic Transformations- Translation, Scaling and Rotation, both in 2D & 3D Inverse Transformations Perspective Transformation and Imaging Process Relationship between Cartesian Coordinate System and Homogeneous Coordinate System Inverse Perspective Transformation

    Course Introduction
    Instructor: Mahmood Akhtar, PhD Lecture Timing: Mon 17302030 hrs, CR (Mts) -02 (Trg Block- III)

    Topics:
    Basic Transformations, Camera Model and Imaging Geometry, Camera Calibration and Stereo Imaging, Linear Filters, Multiview Geometry, Structure From Motion, Segmentation, Finding Images in Digital Libraries, Tracking, Model-Based Vision, Finding Templates Using Classifiers, Range Data

    Text Book & References:


    David A. Forsyth and Jean Ponce, Computer Vision A Modern Approach, 2002 Ed (available from local market) Class slides & selected research papers to be distributed by the instructor Mubarak Shah, Fundamentals of Computer Vision, 1997 (soft copy available) Linda Shapiro and George Stockman, Computer Vision, 2000 (soft copy available) Rafael C. Gonzalez and Richard E. Woods, Digital Image Processing, 3rd Edition, 2009 (available from local market)

    Prerequisites:
    Digital image processing Working knowledge of Matlab Knowledge related to: Euclidean and projective geometry Linear Algebra Vector calculus Probability & Statistics

    Yahoo Group:

    CV_CEME

    Grading Policy*:
    Surprise quizzes Programming assignments Sessional exam I Sessional exam II Project Final exam
    *Relative final grading policy

    8% 7% 15% 15% 15% 40%

    Quizzes & Assignments:


    Please make sure you visit CV_CEME group every day, for notifications about assignments & other related material uploaded from time to time Quizzes: 4-6, carrying 7% weight in the total marks (best 4 out of 6 can be considered in the benefit of students) Assignments: 4-6, carrying 8% weight in the total marks Assignments may be written assignments or programming assignments Assignment submission deadline will be given with the assignment Assignments submitted after the deadline will not be accepted and will carry ZERO MARKS Cheated (i.e., matching) assignments will get ZERO MARKS

    Projects:
    Projects will carry 15% weight in the total marks Projects may be conducted individually or in groups of max. two students Suggested topics for projects will be uploaded on the class yahoo group some time between week 2 and week 4 of the course Project topics should be selected and approved within the first six weeks of the course. Project presentations will commence from week 12 onwards and projects (report, CD & presentation) will not be accepted after the presentation date. Projects consisting of downloaded codes or presentations will not be accepted and will carry ZERO MARKS

    Vision
    Process of discovering what is present in the world and where it is by looking

    What is Computer Vision?


    given an image or more, extract properties of the 3D world:
    - Traffic scene - Number of vehicles - Type of vehicles - Location of closest obstacle - Assessment of congestion - Location of the scene captured -

    Computer Vision
    goal is to emulate human vision (which is limited to the visual band of electromagnetic (EM) spectrum), including learning and being able to make inferences and take actions based on visual inputs

    Why Computer Vision?


    An image is worth 1000 words Many biological systems rely on vision The world is 3D and dynamic Cameras and computers are cheap

    Applications of Computer Vision


    Autonomous cars, Planes, Missiles, Robots, ... Space exploration Aid to the blind, Sign language recognitions Manufacturing, Quality control Surveillance, Security, Biometrics Image retrieval Medical imaging & analysis ...

    Computer Vision Focuses on:


    What information should be extracted? How can it be extracted? How should it be represented? How can it be used to achieve the goal?

    Related Disciplines
    Image processing Pattern recognition Computer graphics Artificial intelligence Machine learning

    Active Research Topics


    Object recognition Human behavior analysis Internet and computer vision Biometrics and soft biometrics Large scale 3D reconstruction (city level) Medical image processing Vision for robotics

    Computer Vision Publications


    Journals
    IEEE Trans. on Pattern Analysis and Machine Intelligence (TPAMI) Internal Journal of Computer Vision (IJCV) IEEE Trans. on Image Processing

    Computer Vision Publications


    Conferences
    International Conference on Computer Vision (ICCV), once every two years Conf. of Computer Vision and Pattern Recognition (CVPR), once a year Europe Conference on Computer Vision (ECCV), once every two years

    EC-803 Computer Vision


    Lecture-1:
    Course Introduction Basic Transformations- Translation, Scaling and Rotation, both in 2D & 3D Inverse Transformations Perspective Transformation and Imaging Process Relationship between Cartesian Coordinate System and Homogeneous Coordinate System Inverse Perspective Transformation

    Basic Transformations
    Translation (2D)

    **consult your class notes for further information on this topic**

    Basic Transformations
    Scaling (2D)

    **consult your class notes for further information on this topic**

    Basic Transformations
    Rotation (2D) - around origin
    **consult your class notes for further information on this topic**

    Basic Transformations
    Rotation (2D)
    - around any other point (not origin) T-r(R T-rp)
    1. take the translation to origin 2. rotate an angle required 3. take inverse translation

    Basic Transformations
    Translation (3D)

    **consult your class notes for further information on this topic**

    Basic Transformations
    Scaling (3D)

    **consult your class notes for further information on this topic**

    Basic Transformations
    Rotation (3D) - around z axis
    **consult your class notes for further information on this topic**

    Basic Transformations
    Rotation (3D)
    - around x axis
    **consult your class notes for further information on this topic**

    Basic Transformations
    Rotation (3D)
    - around y axis
    **consult your class notes for further information on this topic**

    Basic Transformations
    Concatenation - several transformations can be presented by a single
    4x4 transformation matrix V* = R (S (TV)) = AV - matrix operations are not commutative

    Basic Transformations
    Transformation for a Set of Points
    - for a set of m points, construct a matrix V of dimension 4 x m, such that each column represents a point - transformation: V* = AV - ith column, jth element of V* is transformed point corresponding to Vi,j
    **consult your class notes for further information on this topic**

    EC-803 Computer Vision


    Lecture-1:
    Course Introduction Basic Transformations- Translation, Scaling and Rotation, both in 2D & 3D Inverse Transformations Perspective Transformation and Imaging Process Relationship between Cartesian Coordinate System and Homogeneous Coordinate System Inverse Perspective Transformation

    Inverse Transformations
    Inverse translation (sign is changed)

    **consult your class notes for further information on this topic**

    Inverse Transformations
    Inverse scaling (values get inverted)

    **consult your class notes for further information on this topic**

    Inverse Transformations
    Inverse rotation (angle sign is changed)

    **consult your class notes for further information on this topic**

    EC-803 Computer Vision


    Lecture-1:
    Course Introduction Basic Transformations- Translation, Scaling and Rotation, both in 2D & 3D Inverse Transformations Perspective Transformation and Imaging Process Relationship between Cartesian Coordinate System and Homogeneous Coordinate System Inverse Perspective Transformation

    Perspective Transformation and Imaging Process


    Perspective Transformation is also called imaging transformation approximation of the image formation process projects 3D points onto a 2D camera plane (x,y,z) Camera coordinate system

    (X,Y,Z) World coordinate system (aligned with camera coordinate system)

    x = X/(-Z) y = X/(-Z) where is the focal length


    **consult your class notes for further information on this topic**

    EC-803 Computer Vision


    Lecture-1:
    Course Introduction Basic Transformations- Translation, Scaling and Rotation, both in 2D & 3D Inverse Transformations Perspective Transformation and Imaging Process Relationship between Cartesian Coordinate System and Homogeneous Coordinate System Inverse Perspective Transformation

    Cartesian Coordinate System & Homogeneous Coordinate System


    Cartesian coordinates: (X, Y, Z) Homogeneous coordinates: (kX, kY, kZ, k), where k is an arbitrary (non-zero) constant relationship between Wh and Ch: Ch = P Wh where P is a perspective transformation matrix
    **consult your class notes for further information on this topic**

    EC-803 Computer Vision


    Lecture-1:
    Course Introduction Basic Transformations- Translation, Scaling and Rotation, both in 2D & 3D Inverse Transformations Perspective Transformation and Imaging Process Relationship between Cartesian Coordinate System and Homogeneous Coordinate System Inverse Perspective Transformation

    Inverse Perspective Transformation


    maps an image point back to 3D Wh = P-1 Ch where P is a Perspective Transformation matrix for an image point (x0,y0), the above inverse transformation ends up giving Z=0 for 3D point

    Problem is that mapping of 3D scene onto image plane (2D) is many to one mapping (x0,y0) is the mapping of points on a straight line passing through (x0,y0,0) and (0,0,)

    Equations of straight line in world coordinates: from:

    Inverse Perspective Transformation is formulated by using Z component of Ch as a free variable, which gives:

    **consult your class notes for further information on this topic**

    We can find out X and Y only and require additional information to find out Z so that point in3D world coordinates is exactly known from x0, y0 in image plane SO FAR: Both coordinate systems were aligned NEXT: Imaging geometry where world coordinate system and camera coordinate system are not aligned

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