IMAGE FORMATION - KTH€¦ · -Perspective projection - from camera to image coordinates Basic...
Transcript of IMAGE FORMATION - KTH€¦ · -Perspective projection - from camera to image coordinates Basic...
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DD2423 Image Analysis and Computer Vision
IMAGE FORMATIONMarten Bjorkman
Computational Vision and Active PerceptionSchool of Computer Science and Communication
November 8, 2013
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Image formation
Goal: Model the image formation process
• Image acquisition
• Perspective projection
– properties– approximations
• Homogeneous coordinates
• Sampling
• Image warping
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Image formation
Image formation is a physical process that captures scene illuminationthrough a lens system and relates the measured energy to a signal.
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Basic concepts
• Irradiance E: Amount of light falling on a surface, in power per unit area (wattsper square meter). If surface tilts away from light, same amount of light strikesbigger surface (foreshortening→ less irradiance).
• Radiance L: Amount of light radiated from a surface, in power per unit areaper unit solid angle. Informally “Brightness”.
• Image irradiance E is proportional to scene radiance
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Light source examples
Left: Forest image (left): sun behind observer, (right): sun opposite observerRight: Field with rough surface (left): sun behind observer, (right): sun opposite observer.
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Digital imaging
Image irradiance E × area × exposure time→ Intensity
• Sensors read the light intensity that may be filtered through color filters, anddigital memory devices store the digital image information either as RGB colorspace or as raw data.
• An image is discretized: sampled on a discrete 2D grid→ array of color values.
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Imaging acqusition - From world point to pixel
• World points are projected onto a camera sensor chip.
• Camera sensors sample the irradiance to compute energy values.
• Positions in camera coordinates (in mm) are converted to image coordinates(in pixels) based on the intrinsic parameters of the camera:
- size of each sensor element,
- aspect ratio of the sensor (xsize/ysize),
- number of sensor elements in total,
- image center of sensor chip relative to the lens system.
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Steps in a typical image processing system
• Image acquisition: capturing visual data by a vision sensor
• Discretization/digitalization - Quantization - Compression: Convert data intodiscrete form; compress for efficient storage/transmission
• Image enhancement: Improving image quality (low contrast, blur noise)
• Image segmentation: Partition image into objects or constituent parts.
• Feature detection: Extracting pertinent features from an image that areimportant for differentiating one class of objects from another.
• Image representation: Assigning labels to an object based on informationprovided by descriptors.
• Image interpretation: Assigning meaning to image information.
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Pinhole camera or “Camera Obscura”
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Pinhole camera and perspective projection
• A mapping from a three dimensionsal (3D) world onto a two dimensional (2D)plane in the previous example is called perspective projection.
• A pinhole camera is the simplest imaging device which captures the geometryof perspective projection.
• Rays of light enter the camera through an infinitesimally small aperture.
• The intersection of light rays with the image plane form the image of the object.
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Perspective projection
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Pinhole camera - Perspective geometry
X
Y
image coordinates
image plan
e
centeroptical
p=(x,y,f) P=(X,Y,Z)world coordinates
optical axisZ
focal length
• The image plane is usually modeled in front of the optical center.
• The coordinate systems in the world and in the image domain areparallel. The optical axis is ⊥ image plane.
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Lenses
• Purpose: gather light from from larger opening (aperture)
• Problem: only light rays from points on the focal plane intersect thesame point on the image plane
• Result: blurring in-front or behind the focal plane
• Focal depth: the range of distances with acceptable blurring
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Imaging geometry - Basic camera models
• Perspective projection (general camera model)
All visual rays converge to a common point - the focal point
• Orthographic projection (approximation: distant objects, center of view)
All visual rays are perpendicular to the image plane
Image
Orthographic projection
Image
Perspective projection
focal
point
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Projection equations
yY
Z
f
• Perspective mappingxf=
XZ,
yf=
YZ
• Orthographic projectionx = X , y = Y
• Scaled orthography - Z0 constant (representative depth)
xf=
XZ0
,yf=
YZ0
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Perspective transformation
• A perspective transformation has three components:
- Rotation - from world to camera coordinate system
- Translation - from world to camera coordinate system
- Perspective projection - from camera to image coordinates
• Basic properties which are preserved:
- lines project to lines,
- collinear features remain collinear,
- tangencies,
- intersections.
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Perspective transformation (cont)
cameracentre
parallellines
pointvanishing
image
e
Each set of parallel lines meet at a different vanishing point - vanishing point as-sociated to this direction. Sets of parallel lines on the same plane lead to collinearvanishing points - the line is called the horizon for that plane.
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Homogeneous coordinates
• Model points (X ,Y,Z) in R 3 world by (kX ,kY,kZ,k) where k is arbitrary 6= 0,and points (x,y) in R 2 image domain by (cx,cy,c) where c is arbitrary 6= 0.
• Equivalence relation: (k1X ,k1Y,k1Z,k1) is same as (k2X ,k2Y,k2Z,k2).
• Homogeneous coordinates imply that we regard all points on a ray (cx,cy,c) asequivalent (if we only know the image projection, we do not know the depth).
• Possible to represent “points in infinity” with homogreneous coordinates(X ,Y,Z,0) - intersections of parallel lines.
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Computing vanishing points
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Homogeneous coordinates (cont)
In homogeneous coordinates the projection equations can be writtencxcyc
=
f 0 0 00 f 0 00 0 1 0
kXkYkZk
=
f kXf kYkZ
Image coordinates obtained by normalizing the third component to one(divide by c = kZ).
x =xcc=
f kXkZ
= fXZ, y =
ycc=
f kYkZ
= fYZ
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Transformations in homogeneous coordinates
• Translation XYZ
→X
YZ
+
∆X∆Y∆Z
XYZ1
→
1 0 0 ∆X0 1 0 ∆Y0 0 1 ∆Z0 0 0 1
XYZ1
• Scaling
XYZ1
→
SX 0 0 00 SY 0 00 0 SZ 00 0 0 1
XYZ1
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Transformations in homogeneous coordinates II
• Rotation around the Z axisXYZ1
→
cosθ −sinθ 0 0sinθ cosθ 0 0
0 0 1 00 0 0 1
XYZ1
• Mirroring in the XY plane
XYZ1
→
1 0 0 00 1 0 00 0 −1 00 0 0 1
XYZ1
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Transformations in homogeneous coordinates III
Common case: Rigid body transformations (Euclidean) X ′
Y ′
Z′
→ R
XYZ
+
∆X∆Y∆Z
where R is a rotation matrix (R−1 = RT ) is written
X ′
Y ′
Z′
1
=
∆X
R ∆Y∆Z
0 0 0 1
XYZ1
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Perspective projection - Extrinsic parameters
Consider world coordinates (X ′,Y ′,Z′,1) expressed in a coordinate systemnot aligned with the camera coordinate system
XYZ1
=
∆X
R ∆Y∆Z
0 0 0 1
X ′
Y ′
Z′
1
= A
X ′
Y ′
Z′
1
Perspective projection (more general later)
c
xy1
=
f 0 0 00 f 0 00 0 1 0
XYZ1
= PA
X ′
Y ′
Z′
1
= M
X ′
Y ′
Z′
1
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Intrinsic camera parameters
Due to imperfect placement of the camera chip relative to the lens system,there is always a small relative rotation and shift of center position.
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Intrinsic camera parameters
A more general projection matrix allows:
• Image coordinates with an offset origin
• Non-square pixels
• Skewed coordinate axes
• Five variables below are known as the camera’s intrinsic parameters
K =
fu γ u00 fv v00 0 1
, P =(
K 0)=
fu γ u0 00 fv v0 00 0 1 0
Most important is the focal length ( fu, fv). Normally, fu and fv are assumedequal and the parameters γ, uo and vo close to zero.
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Example: Perspective mapping
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Example: Perspective mapping in stereo
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Mosaicing
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Exercise
Assume you have a point at (3m,−2m,8m) with respect to the cameras coordinatesystem. What is the image coordinates, if the image has a size (w,h) = (640,480)and origin in the upper-left corner, and the focal length is f = 480?
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Exercise
Assume you have a point at (3m,−2m,8m) with respect to the cameras coordinatesystem. What is the image coordinates, if the image has a size (w,h) = (640,480)and origin in the upper-left corner, and the focal length is f = 480?
Answer:x = f
XZ+
w2= (480∗3/8+640/2) = 500
y = fYZ+
h2= (−480∗2/8+480/2) = 120
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Approximation: affine camera
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Approximation: affine camera
• A linear approximation of perspective projectionxy1
=
m11 m12 m13 m14m21 m22 m23 m240 0 0 1
XYZ1
• Basic properties
– linear transformation (no need to divide at the end)– parallel lines in 3D mapped to parallel lines in 2D
Angles are not preserved!
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Planar Affine Transformation
Original Flipped x-size
Shifted and scaled Sheared
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Summary of models
Projective (11 degrees of freedom): M =
m11 m12 m13 m14m21 m22 m23 m24m31 m32 m33 m34
Affine (8 degrees of freedom): M =
m11 m12 m13 m14m21 m22 m23 m240 0 0 1
Scaled orthographic (6 degrees of freedom): M =
r11 r12 r13 ∆Xr21 r22 r23 ∆Y0 0 0 Z0
Orthographic (5 degrees of freedom): M =
r11 r12 r13 ∆Xr21 r22 r23 ∆Y0 0 0 1
All these are just approximations, since they all assume a pin-hole, which issupposed to be infinitesimally small.
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Sampling and quantization
• Sample the continuous signal at a finite set of points and quantizethe registered values into a finite number of levels.
• Sampling distances ∆x,∆y and ∆t determine how rapid spatial andtemporal variations can be captured.
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Sampling and quantization
• Sampling due to limited spatial and temporal resolution.
• Quantization due to limited intensity resolution.
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Factors that affect quality
• Quantization: Assigning, usually integer, values to pixels (sampling anamplitude of a function).
• Quantization error: Difference between the real value and assigned one.
• Saturation: When the physical value moves outside the allocated range,then it is represented by the end of range value.
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Different image resolutions
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Different number of bits per pixel
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Image warping
Resample image f (x,y) to get a new image g(u,v), using a coordinate trans-formation: u = u(x,y), v = v(x,y).
Examples of transformations:
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Image Warping
• For each grid point in (u,v) domain compute corresponding (x,y) values.
Note: transformation is inverted to avoid holes in result.
• Create g(u,v) by sampling from f (x,y) either by:
– Nearest neighbour look-up (noisy result)– Bilinear interpolation (blurry result)
f (x+ s,y+ t) = (1− t) · ((1− s) · f (x,y)+ s · f (x+1,y))++ t · ((1− s) · f (x,y+1)+ s · f (x+1,y+1))
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Nearest Neighbor vs. Bilinear Interpolation
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Summary of good questions
• What parameters affects the quality in the acquisition process?
• What is a pinhole camera model?
• What is the difference between intrinsic and extrinsic camera parameters?
• How does a 3D point get projected to a pixel with a perspective projection?
• What are homogeneous coordinates and what are they good for?
• What is a vanishing point and how do you find it?
• What is an affine camera model?
• What is sampling and quantization?
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Readings
• Gonzalez and Woods: Chapter 2
• Szeliski: Chapters 2.1 and 2.3.1
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