Rectification and Depth Computation

Transcription

1 Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Rctfcaton an Dpth Computaton CMPE 64: mag Anass an Comput Vson Spng 0 Ha ao 4/6/0

2 mag cosponncs Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Q wo ffnt pobms Comput spas cosponncs wth unknown cama motons us fo cama moton stmaton an spas 3D constucton Gvn cama ntnsc an tnsc paamts comput ns p cosponncs on cosponnc p p us fo covng ns scn stuctu: on pth p p Q w focus on th scon pobm n ths ctu.

3 Eamps of ns pth cov Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz

4 Eamps of ns pth cov Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz

5 anguaton Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Q f w know th cama mat an th cama moton fo an p p n th ft mag ts cosponnc must on th ppoa n n th ght mag Q hs suggsts a mtho to comput th pth 3D poston of ach p n th ft mag Fo ach p p n th ft mag sach fo th bst match p aong ts ppoa n n th ght mag h cosponng 3D scn ponts s th ntscton of O p an O p. hs pocss s ca tanguaton

6 Rctfcaton Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Q h sach of th bst match aong th ppoa n can b v ffcnt fo a spca confguaton wh th ppoa ns bcom paa to th hozonta mag as an cona th sam scan ns n both mags Q Fo such a confguaton to fn th cosponnc of p n th ght mag on ps * a cons Q hs spca confguaton s ca a smp o stana sto sstm Q n such a sstm th 3D tansfomaton btwn th two camas s P 00 ] P [

7 Rctfcaton Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Q mags takn fom two camas wth abta atv moton R can b ctf. h sutant mags tansfom so that th a as f takn fom a stana sto sstm wth th two cama cnts unchang

8 mag tansfomaton fo a otatng cama Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Q Quston: Fom th ogna mag can w comput th mag takn fom th cama cnt at th sam poston but wth ffnt ontaton? f th answ s s w can otat th two camas so that th sutant mags a ctf Q Suppos th cama otaton mat s R. Fo a mag pont h cosponng 3D scn pont s K 1 p Zc. Aft otaton th coonats of ths pont s RK 1 p Zc. h nw homognous mag coonats a p KRK 1 p. hs can b wttn as wh H KRK 1 p Hp s a 3 3 tansfomaton mat Homogaph Q h mag tansfomaton caus b a cama otaton s a D homogaph

9 Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Rctfcaton agothm Q Bu ctfcaton mat R ct as Q Rotat ft cama b R ct an ght cama b R ct R usng th cosponng homogaphs v n th pvous s an 0] [ 1 [001] wh ct R

10 Dspat an pth n a smp sto sstm Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Q n a smp/stana bnocua sto sstm th cosponncs a aong th sam scan n n th two mags. h foowng fgu shows th th atonshp btwn th pth Z an th spat - Q h foowng atonshp can b as pov Z f Q h pth s nvs popotona to th spat. h cos th obct th ag th spat. Q Fo a scn pont at nfnt th spat s 0

11 Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Fnng cosponncs coaton-bas mtho Q Assumptons Most scn ponts a vsb fom both vwponts Cosponng mag gons a sma Q Coaton_matchng_agothm Lt p an p b ps n th ft an ght mag 1 s th wth of th coaton wnow [-LL] s th spat sach ang n th ght mag fo p Fo ach spat n th ang of [-LL] comput th smat masu c Output th spat wth th mamum smat masu

12 Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Fnng cosponncs coaton-bas mtho

13 Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Fnng cosponncs coaton-bas mtho Q Dffnt smat masus Sum of squa ffncs SSD Sum of absouton ffncs SAD Nomaz coss-coaton c c C C C C C C c ] [ ] [ ] ][ [ wh

14 Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Fnng cosponncs fatu-bas mtho Q Sach s stct to a st of fatus n two mags such as gs cons tc. Q A smat masu s us fo matchng fatus Q Constants such as th unqunss constant ach fatu can on hav on match can b us Q Agothm_fatu_matchng Comput th smat masu btwn f an ach fatu n th ght mag Sct th ght mag fatu wth th agst smat masu an ouput th spat Q Samp smat masu fo n sgmnts S w 0 w 1 θ θ w m m w c wh s th ngth of th n sgmnt θ th ontaton mpont an c th avag constast aong th g n 1 3 c m th