7. Image Formation

Video Resources

• Projective geometry, homgeneous coordinates, and image formation are introduced by Peter Corke in these Robot Academy videos series on How Images are Formed, and on the geometry of image formation.

• This material is also covered very well in two lectures by Aaron Bobick of Georgia Tech. It is available as a series of videos from Udacity. Watch lecture series 3A-L1 and 3A-L2 from the Udacity course Introduction to Computer Vision.

Contents:

• 7.1. Cameras
  • 7.1.1. Camera Lenses
  • 7.1.2. Thin Lens Camera Model
  • 7.1.3. Lens Distortions
• 7.2. Perspective Projection Model
  • 7.2.1. When Z is Constant
  • 7.2.2. Projective Geometry
  • 7.2.3. Camera Matrix
• 7.3. Homography
• 7.4. Stereo Cameras
• 7.5. Active 3D Sensors