Beruflich Dokumente
Kultur Dokumente
Transformations Between Two
Images
•Translation
•Rotation
•Rigid
•Similarity (scaled rotation)
•Affine
•Projective
•Pseudo Perspective
•Bi‐linear
Last week …
h11 h12 h13 Concurrency, collinearity,
Projective h order of contact (intersection,
8dof 21 h22 h23 tangency, inflection, etc.),
h31 h32 h33 cross ratio
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4/29/2015
Fundamental Matrix
Lecture‐8
Applications
•Stereo
•Structure from Motion
•View Invariant Action Recognition
•..
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4/29/2015
Stereo Pairs and Depth Maps
(from Szeliski’s book)
Image Rectification For Stereo
3
4/29/2015
Photosynth: Structure From Motion
Fundamental Matrix
•Longuet Higgins (1981)
•Hartley (1992)
•Faugeras (1992)
•Zhang (1995)
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4/29/2015
Fundamental Matrix Song
http://www.youtube.com/watch?v=DgGV3l82NTk
Preliminaries
•Linear Independence
•Rank of a Matrix
•Matrix Norm
•Singular Value Decomposition
•Vector Cross product to Matrix Multiplication
•RANSAC
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4/29/2015
Linearly Independence
Rank of a Matrix
•The column rank of a matrix A is the maximum
number of linearly independent column vectors
of A.
•The row rank of a matrix A is the maximum
number of linearly independent row vectors of
A.
•The column rank of A is the dimension of the
column space of A
•The row rank of A is the dimension of the row
space of A.
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4/29/2015
Example (Row Echelon)
Rank is 2
Singular Value Decomposition (SVD)
Theorem: Any m by n matrix A, for which
,can be written as
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4/29/2015
Matrix Norm
L1 matrix norm is maximum of absolute column
sum.
Vector Cross Product to Matrix‐vector
multiplication
Anti symmetric matrix
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4/29/2015
RANSAC: Random Sampling and
Consensus
http://www.youtube.com/watch?v=1YNjMxxXO‐E&feature=relmfu
How to Fit A Line?
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4/29/2015
How to Fit A Line?
•Least squares Fit (over constraint)
•RANSAC (constraint)
• Hough Transform (under constraint)
Least Squares Fit
• Standard linear solution to estimating unknowns.
– If we know which points belong to which line
– Or if there is only one line
Take derivative wrt m and c set to 0
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4/29/2015
Line Fitting
RANSAC: Random Sampling and
Consensus
• 1.Randomly select two points to fit a line
• 2.Find the error between the estimated
solution an all other points. If the error is
less than tolerance, then quit, else go to
step (1).
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4/29/2015
Derivation of Fundamental
Matrix
Epipolar Geometry
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4/29/2015
Epipolar Geometry
Essential Matrix
Coplanarity constraint can be proved by
taking cross product of two vectors and then
taking its dot product with third vector. It is
zero. R is rotational matrix. Inverse of R is
transpose.
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4/29/2015
Essential Matrix
Paper in Nature by Higgins
Fundamental Matrix
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4/29/2015
Fundamental Matrix
Fundamental Matrix
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4/29/2015
Fundamental Matrix
•Longuet Higgins (1981)
•Hartley (1992)
•Faugeras (1992)
•Zhang (1995)
Fundamental Matrix
•Fundamental matrix captures the relationship
between the corresponding points in two
views.
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4/29/2015
Fundamental Matrix
One constraint is kept fixed or known
Computation of Fundamental
Matrix
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4/29/2015
Normalized 8‐point algorithm
(Hartley)
Normalized 8‐point algorithm
(Hartley)
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4/29/2015
Robust Fundamental Matrix Estimation
(by Zhang)
•Uniformly divide the image into 8×8 grid.
•Randomly select 8 grid cells and pick one
pair of corresponding points from each
grid cell, then use Hartley’s 8‐point
algorithm to compute Fundamental
Matrix Fi.
•For each Fi, compute the median of the
squared residuals Ri.
–Ri = mediank[d(p1k,Fip2k) +
d(p2k,F’ip1k)]
•Select the best Fi according to Ri.
•Determine outliers if Rk>Th.
•Using the remaining points compute the
fundamental Matrix F by weighted
least square method.
Epi‐polar Lines
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4/29/2015
Epi‐polar lines
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