10. Image Formation

Reading Assignment

Please read appendix C.2 and chapter 11 of [RVC].

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.

• Stereo cameras and 3D active sensors are covered in the set of videos from Peter Corke titled 3D Vision.

• If you’d like more information on vectors, matrices, matrix multiplication, and transforming vectors, look at the following Khan Academy videos:

  • Vector introduction for linear algebra
  • Introduction to matrices
  • Introduction to matrix multiplication
  • Introduction to identity matrix
  • Transforming vectors using matrices

Contents:

• 10.1. Cameras
  • 10.1.1. Camera Lenses
  • 10.1.2. Thin Lens Camera Model
  • 10.1.3. Lens Distortions
• 10.2. Perspective Projection Model
  • 10.2.1. When Z is Constant
  • 10.2.2. Projective Geometry
  • 10.2.3. Camera Matrix
• 10.3. Homography
• 10.4. Stereo Cameras
• 10.5. Active 3D Sensors