Algorithms and Applications in Computer Vision Lihi Zelnik-Manor [email protected].

Algorithms and Applications in Computer Vision

Lihi [email protected]

mailto:[email protected]

Let’s get started: Image formation

• How are objects in the world captured in an image?

Physical parameters of image formation

• Geometric– Type of projection– Camera pose

• Optical– Sensor’s lens type– focal length, field of view, aperture

• Photometric– Type, direction, intensity of light reaching sensor– Surfaces’ reflectance properties

Image formation

• Let’s design a camera– Idea 1: put a piece of film in front of an object– Do we get a reasonable image?

Slide by Steve Seitz

Pinhole camera


• Add a barrier to block off most of the rays– This reduces blurring– The opening is known as the aperture– How does this transform the image?

Pinhole camera• Pinhole camera is a simple model to approximate

imaging process, perspective projection.

Fig from Forsyth and Ponce

If we treat pinhole as a point, only one ray from any given point can enter the camera.

Virtual image

pinhole

Image plane

Camera obscura

"Reinerus Gemma-Frisius, observed an eclipse of the sun at Louvain on January 24, 1544, and later he used this illustration of the event in his book De Radio Astronomica et Geometrica, 1545. It is thought to be the first published illustration of a camera obscura..." Hammond, John H., The Camera Obscura, A Chronicle

http://www.acmi.net.au/AIC/CAMERA_OBSCURA.html

In Latin, means ‘dark room’

Camera obscura

Jetty at Margate England, 1898.

Adapted from R. Duraiswami

http://brightbytes.com/cosite/collection2.html

Around 1870sAn attraction in the late 19th century

Camera obscura at home

Sketch from http://www.funsci.com/fun3_en/sky/sky.htmhttp://blog.makezine.com/archive/2006/02/how_to_room_sized_camera_obscu.html

Perspective effects

Perspective effects

• Far away objects appear smaller

Forsyth and Ponce

Perspective effects

Perspective effects• Parallel lines in the scene intersect in the image• Converge in image on horizon line

Image plane(virtual)

Scene

pinhole





• Sensor– sampling, etc.






Perspective and art• Use of correct perspective projection indicated in 1st

century B.C. frescoes• Skill resurfaces in Renaissance: artists develop

systematic methods to determine perspective projection (around 1480-1515)

Durer, 1525RaphaelK. Grauman

Perspective projection equations

• 3d world mapped to 2d projection in image plane

Forsyth and Ponce

Camera frame

Image plane

Optical axis

Focal length

Scene / world points



Forsyth and Ponce

𝑧𝑓 ′ 𝑥

𝑥 ′

𝑧𝑥¿𝑓 ′

𝑥 ′𝑧𝑥¿ 𝑓 ′𝑥 ′



Forsyth and Ponce

𝑧𝑓 ′ 𝑥

𝑥 ′

𝑥′= 𝑓 ′𝑥𝑧𝑦 ′= 𝑓 ′

𝑦𝑧

Homogeneous coordinatesIs this a linear transformation?

Trick: add one more coordinate:

homogeneous image coordinates

homogeneous scene coordinates

Converting from homogeneous coordinates

• no—division by z is nonlinear


Perspective Projection Matrix

divide by the third coordinate to convert back to non-homogeneous coordinates

• Projection is a matrix multiplication using homogeneous coordinates:

'/1

0'/100

0010

0001

fz

y

x

z

y

x

f

)','(z

yf

z

xf


Complete mapping from world points to image pixel positions?

Perspective projection & calibration

Camera frame

Intrinsic:Image coordinates relative to camera Pixel coordinates

Extrinsic:Camera frame World frame

World frame

World to camera coord. trans. matrix

(4x4)

Perspectiveprojection matrix

(3x4)

Camera to pixel coord.

trans. matrix (3x3)

=2D

point(3x1)

3Dpoint(4x1)

K. Grauman


Camera frame



World frame


(4x4)


(3x4)


trans. matrix (3x3)

=2D

point(3x1)

3Dpoint(4x1)

K. Grauman

So far we defined only the perspective projection matrix

World – to -camera

K. Grauman

1 0 0 0 1 1

x x

y R t y

z z


(4x4)

=3D

point(4x1)

3Dpoint(4x1)

Worldcamera

Extrinsic parameters: translation and rotation of camera frame

tpRp CW

WCW

C Non-homogeneous

coordinates

Homogeneous coordinates

ptRp WC

WCW

C

1000|

|

W. Freeman


Camera frame



World frame


(4x4)


(3x4)


trans. matrix (3x3)

=2D

point(3x1)

3Dpoint(4x1)

K. Grauman

Intrinsic parameters: from idealized world coordinates to pixel values

Forsyth&Ponce

' '

' '

xx f

zy

y fz

Perspective projection

W. Freeman

Intrinsic parameters

'

'

xx

zy

yz

But “pixels” are in some arbitrary spatial units

W. Freeman


'

'

xx

zy

yz

Maybe pixels are not square

W. Freeman


0

0

'

'

xx u

zy

y vz

We don’t know the origin of our camera pixel coordinates

W. Freeman


0

0

' cot( )

' sin( )

x yx u

z zy

y vz

May be skew between camera pixel axes

v

u

v

u

vuvuu

vv

)cot()cos(

)sin(

W. Freeman

pp C K

Intrinsic parameters, homogeneous coordinates

0

0

' cot( )

' sin( )

x yx u

z zy

y vz

0

0

cot( )' 0

' 0 0sin( )

1 00 0 1 1

xux

yz y v

z

Using homogenous coordinates,we can write this as:

or:

In camera-based coords

In pixels

W. Freeman

pp C K

Intrinsic parameters, homogeneous coordinates

0

0

' cot( )

' sin( )

x yx u

z zy

y vz

0

0

cot( )' 0

' 0 0sin( )

00 0 1 1

xux

yy v

zw

Using homogenous coordinates,we can write this as:

or:

In camera-based coords

In pixels

W. Freeman

Extrinsic parameters: translation and rotation of camera frame

tpRp CW

WCW

C Non-homogeneous

coordinates

Homogeneous coordinates

ptRp WC

WCW

C

1000|

|

W. Freeman

Combining extrinsic and intrinsic calibration parameters, in homogeneous coordinates

Forsyth&Ponce

0 0 0 1

C CWW WR t

p K p

pp CK

pMp W

Intrinsic

Extrinsic

ptRp WC

WCW

C

1000|

|

World coordinatesCamera coordinates

pixels

W. Freeman

Other ways to write the same equation

1

2

3

' . . .

' . . .

1 . . .1

WT x

WT y

WT z

px m

py m

pm

pMp W

1

3

2

3

'

'

m Px

m P

m Py

m P

pixel coordinates

world coordinates

Conversion back from homogeneous coordinates leads to:

W. Freeman

Calibration target

http://www.kinetic.bc.ca/CompVision/opti-CAL.html

Find the position, ui and vi, in pixels, of each calibration object feature point.

Camera calibration

1 3

2 3

( ' ) 0

( ' ) 0i i

i i

m x m P

m y m P

So for each feature point, i, we have:

1

3

2

3

'

'

m Px

m P

m Py

m P

From before, we had these equations relating image positions,u,v, to points at 3-d positions P (in homogeneous coordinates):

W. Freeman

Stack all these measurements of i=1…n points

into a big matrix:

Camera calibration

1 3

2 3

( ' ) 0

( ' ) 0i i

i i

m x m P

m y m P

1 1 1

1 1 1 1

2

3

0 ' 0

0 ' 0

00 '00 '

T T T

T T T

T T Tn n nT T T

n n n

P x P

P y P m

m

mP x P

P y P

W. Freeman

11

12

13

141 1 1 1 1 1 1 1 1 1

211 1 1 1 1 1 1 1 1 1

22

23

24

1 0 0 0 0 ' ' ' '

0 0 0 0 1 ' ' ' '

1 0 0 0 0 ' ' ' '

0 0 0 0 1 ' ' ' '

x y z x y z

x y z x y z

nx ny nz n nx n ny n nz n


m

m

m

mP P P x P x P x P x

mP P P y P y P y P y

m



m

31

32

33

34

0

0

0

0

m

m

m

Showing all the elements:

In vector form:Camera calibration

W. Freeman

1 1 1

1 1 1 1

2

3

0 ' 0

0 ' 0

00 '00 '

T T T

T T T

T T Tn n nT T T

n n n

P x P

P y P m

m

mP x P

P y P

We want to solve for the unit vector m (the stacked one)that minimizes 2

Qm

Q m = 0

The minimum eigenvector of the matrix QTQ gives us that(see Forsyth&Ponce, 3.1), because it is the unit vector x that minimizes xT QTQ x.

Camera calibration

W. Freeman

11

12

13

141 1 1 1 1 1 1 1 1 1

211 1 1 1 1 1 1 1 1 1

22

23

24

1 0 0 0 0 ' ' ' '

0 0 0 0 1 ' ' ' '

1 0 0 0 0 ' ' ' '

0 0 0 0 1 ' ' ' '

x y z x y z

x y z x y z



m

m

m



m



m

31

32

33

34

0

0

0

0

m

m

m

Once you have the M matrix, can recover the intrinsic and extrinsic parameters as in Forsyth&Ponce, sect. 3.2.2.

Camera calibration

W. Freeman


Camera frame



World frame


(4x4)


(3x4)


trans. matrix (3x3)

=2D

point(3x1)

3Dpoint(4x1)

K. Grauman

Recall, perspective effects…

• Far away objects appear smaller

Forsyth and Ponce

Perspective effects

Perspective effects

Projection properties• Many-to-one: all points along same ray map to same

point in image• Points ?

– points• Lines ?

– lines (collinearity preserved)• Distances and angles are / are not ? preserved

– are not• Degenerate cases:

– Line through focal point projects to a point.– Plane through focal point projects to line

– Plane perpendicular to image plane projects to part of the image.

Weak perspective• Approximation: treat magnification as constant• Assumes scene depth << average distance to camera

World points

Image plane

00

1 0 0 0

0 1 0 0

0 0 1/ ' 0 / '1

xx

yy

zf z f

Orthographic projection• Given camera at constant distance from scene• World points projected along rays parallel to optical

access

From 3D to 2D

1

xx

yy

zw

Other types of projection

• Lots of intriguing variants…• (I’ll just mention a few fun ones)

S. Seitz

360 degree field of view…

• Basic approach– Take a photo of a parabolic mirror with an orthographic lens (Nayar)– Or buy one a lens from a variety of omnicam manufacturers…

• See http://www.cis.upenn.edu/~kostas/omni.html

S. Seitz

http://www.cis.upenn.edu/~kostas/omni.html

Tilt-shift

Titlt-shift images from Olivo Barbieriand Photoshop imitations

http://www.northlight-images.co.uk/article_pages/tilt_and_shift_ts-e.html

S. Seitz

http://www.metropolismag.com/cda/story.php?artid=1760

http://www.flickr.com/groups/59319377@N00/pool


tilt, shift

http://en.wikipedia.org/wiki/Tilt-shift_photography


Tilt-shift perspective correction



normal lens tilt-shift lens



Rollout Photographs © Justin Kerr

http://research.famsi.org/kerrmaya.html

Rotating sensor (or object)

Also known as “cyclographs”, “peripheral images”

S. Seitz

http://research.famsi.org/kerrmaya.html

Photofinish

S. Seitz

1. A single vertical slit instead of a shutterThe film is advanced continuously at a similar speed to the racers' images

2. A high speed camera takes a continuous series of partial frame photos at a fast rate






Pinhole size / aperture

Smaller

Larger

How does the size of the aperture affect the image we’d get?

K. Grauman

Adding a lens

• A lens focuses light onto the film– Rays passing through the center are not deviated– All parallel rays converge to one point on a plane

located at the focal length fSlide by Steve Seitz

focal point

f

Pinhole vs. lens

K. Grauman

Cameras with lenses

focal point

F

optical center(Center Of Projection)

• A lens focuses parallel rays onto a single focal point• Gather more light, while keeping focus; make

pinhole perspective projection practical

K. Grauman

Human eye

Fig from Shapiro and Stockman

Pupil/Iris – control amount of light passing through lens

Retina - contains sensor cells, where image is formed

Fovea – highest concentration of cones

Rough analogy with human visual system:

Thin lens

Thin lensRays entering parallel on one side go through focus on other, and vice versa.

In ideal case – all rays from P imaged at P’.

Left focus Right focus

Focal length fLens diameter d

K. Grauman

Thin lens equation

• Any object point satisfying this equation is in focus

u v

vuf

111

K. Grauman

Focus and depth of field

Image credit: cambridgeincolour.com

Focus and depth of field• Depth of field: distance between image planes where

blur is tolerable

Thin lens: scene points at distinct depths come in focus at different image planes.

(Real camera lens systems have greater depth of field.)

Shapiro and Stockman

“circles of confusion”

Focus and depth of field

Images from Wikipedia http://en.wikipedia.org/wiki/Depth_of_field

1. Blurred

2. In focus

3. Blurred

http://en.wikipedia.org/wiki/Depth_of_field

Focus and depth of field• How does the aperture affect the depth of field?

• A smaller aperture increases the range in which the object is approximately in focus

Flower images from Wikipedia http://en.wikipedia.org/wiki/Depth_of_field Slide from S. Seitz

http://en.wikipedia.org/wiki/Depth_of_field

http://en.wikipedia.org/wiki/Image:Jonquil_flowers_at_f32.jpg

http://en.wikipedia.org/wiki/Image:Jonquil_flowers_at_f5.jpg

Depth from focus

[figs from H. Jin and P. Favaro, 2002]

Images from same point of view, different camera parameters

3d shape / depth estimates

Field of view

• Angular measure of portion of 3d space seen by the camera

Images from http://en.wikipedia.org/wiki/Angle_of_view K. Grauman

• As f gets smaller, image becomes more wide angle – more world points project

onto the finite image plane

• As f gets larger, image becomes more telescopic – smaller part of the world

projects onto the finite image plane

Field of view depends on focal length

from R. Duraiswami

Field of view depends on focal length

Smaller FOV = larger Focal LengthSlide by A. Efros

Vignetting

http://www.ptgui.com/examples/vigntutorial.htmlhttp://www.tlucretius.net/Photo/eHolga.html

http://www.ptgui.com/examples/vigntutorial.html

http://www.tlucretius.net/Photo/eHolga.html

Vignetting• “natural”:

• “mechanical”: intrusion on optical path

Chromatic aberration

http://upload.wikimedia.org/wikipedia/commons/6/66/Chromatic_aberration_(comparison).jpg

Chromatic aberration






Environment map

http://www.sparse.org/3d.html

BRDF

Diffuse / Lambertian

Foreshortening

The object will appear “compressed”

Specular reflectionIdeal reflector: the specular reflection is visible only when line-of-sight == reflected-ray.

Phong

• Ambient+ diffuse+specular:






Digital cameras• Film sensor array

• Often an array of charge coupled devices

• Each CCD is light sensitive diode that converts photons (light energy) to electrons

cameraCCD array

optics frame grabber computer

K. Grauman

Historical context• Pinhole model: Mozi (470-390 BCE),

Aristotle (384-322 BCE)• Principles of optics (including lenses):

Alhacen (965-1039 CE) • Camera obscura: Leonardo da Vinci

(1452-1519), Johann Zahn (1631-1707)• First photo: Joseph Nicephore Niepce (1822)• Daguerréotypes (1839)• Photographic film (Eastman, 1889)• Cinema (Lumière Brothers, 1895)• Color Photography (Lumière Brothers, 1908)• Television (Baird, Farnsworth, Zworykin, 1920s)• First consumer camera with CCD:

Sony Mavica (1981)• First fully digital camera: Kodak DCS100 (1990)

Niepce, “La Table Servie,” 1822

CCD chip

Alhacen’s notes

Slide credit: L. Lazebnik K. Grauman

Digital Sensors

Resolution• Sensor: size of real world scene element a that

images to a single pixel• Image: number of pixels• Implications:

– what analysis is feasible– affects best representation choice.

[fig from Mori et al]

Digital imagesThink of images as matrices taken from CCD array.

K. Grauman

im[176][201] has value 164 im[194][203] has value 37

width 520j=1

500 height

i=1Intensity : [0,255]

Digital images

K. Grauman

Color sensing in digital cameras

Source: Steve Seitz

Estimate missing components from neighboring values(demosaicing)

Bayer grid

R G B

Color images, RGB color space

K. GraumanMuch more on color in next lecture…






Summary• Image formation affected by geometry, photometry, and

optics.• Projection equations express how world points mapped to

2d image.• Homogenous coordinates allow linear system for

projection equations.• Lenses make pinhole model practical• Photometry models: Lambertian, BRDF• Digital imagers, Bayer demosaicing

Parameters (focal length, aperture, lens diameter, sensor sampling…) strongly affect image obtained.

K. Grauman

Slide Credits

• Trevor Darrell• Bill Freeman• Steve Seitz• Kristen Grauman• Forsyth and Ponce• Rick Szeliski• and others, as marked…

Algorithms and Applications in Computer Vision Lihi Zelnik-Manor [email protected].

Documents

pinhole camera slide

ponce slide

grauman slide

perspective effects

pinhole camera pinhole

image plane forsyth

d projection

reasonable image