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
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.
Eamps of ns pth cov Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz
Eamps of ns pth cov Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz
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
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 [
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
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
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 1 3 1 1 3 1 an 0] [ 1 [001] wh ct R
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
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
Dpatmnt of Comput Engnng Unvst of Cafona at Santa Cuz Fnng cosponncs coaton-bas mtho
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
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