Bài giảng Chapter 3: Camera calibration
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Chapter 3 – Camera Calibration
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Chapter 3
Camera Calibration
Prof. Fei-Fei Li, Stanford University
Department of Mechatronics
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Contents
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Review camera parameters
Affine camera model
Camera calibration
Vanishing points and lines
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Chapter 3 – Camera Calibration
Projective camera
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Projective camera
K has 5 degrees of freedom
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Chapter 3 – Camera Calibration
Projective camera
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Chapter 3 – Camera Calibration
Projective camera
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Chapter 3 – Camera Calibration
Projective camera
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Chapter 3 – Camera Calibration
Projective camera
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Projective camera
fku
K 0
Department of Mechatronics
0
0
fkv
0
u0
v0
0
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Chapter 3 – Camera Calibration
Goal of calibration
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Chapter 3 – Camera Calibration
Hierarchy of cameras
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Examples of camera projections
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Affine cameras
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Homogenous coordinate
• Our usual coordinate system is called a Euclidean
or affine coordinate system.
• Rotation, translation and projection in homogenous
coordinate can be expressed linearly as matric
multiplies.
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Chapter 3 – Camera Calibration
• Projective geometry provides an elegant means for
handling these different situations in a unified way and
homogenous coordinates are a way to represent entities
(points and lines) in projective spaces.
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