By David A. Forsyth, Jean Ponce
Laptop imaginative and prescient: a contemporary strategy, 2e, is acceptable for upper-division undergraduate- and graduate-level classes in laptop imaginative and prescient present in departments of computing device technology, computing device Engineering and electric Engineering.
This textbook presents the main whole therapy of recent machine imaginative and prescient tools by means of of the prime professionals within the box. This available presentation supplies either a basic view of the whole computing device imaginative and prescient company and in addition deals adequate aspect for college kids that allows you to construct necessary purposes. scholars will study suggestions that experience confirmed to be important through first-hand adventure and quite a lot of mathematical equipment
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Laptop imaginative and prescient: a latest technique, 2e, is acceptable for upper-division undergraduate- and graduate-level classes in machine imaginative and prescient present in departments of laptop technology, desktop Engineering and electric Engineering.
This textbook presents the main entire therapy of recent machine imaginative and prescient tools through of the prime gurus within the box. This available presentation provides either a normal view of the full laptop imaginative and prescient firm and likewise bargains adequate element for college kids so that it will construct necessary purposes. scholars will research options that experience confirmed to be important through first-hand adventure and quite a lot of mathematical tools
Extra info for Computer Vision: A Modern Approach (2nd Edition)
This model is of course only an approximation of the real optical characteristics of the eye. 13: Left: the main components of the human eye. Reproduced with permission, the American Society for Photogrammetry and Remote Sensing. L. M. C. A. L. Speert, third edition, pp. 515–536. Bethesda: American Society of Photogrammetry, (1966). Right: Helmoltz’s schematic eye as modiﬁed by Laurance (after Driscoll and Vaughan, 1978). 96 mm, and the radii of the cornea, anterior, and posterior surfaces of the lens are respectively 8 mm, 10 mm, and 6 mm.
If Zr denotes the depth of the reference point R, the two elementary projection stages P → P → p can be written in the normalized coordinate system attached to the camera as ⎛ ⎞ ⎞ ⎛ ⎞ ⎛ ⎛ ⎞ X x ˆ Z X/Zr ⎝ Y ⎠ −→ ⎝ Y ⎠ −→ ⎝yˆ⎠ = ⎝ Y /Zr ⎠, 1 Z 1 Zr or, in matrix form, ⎛ ⎛ ⎞ xˆ 1 1 ⎝0 ⎝yˆ⎠ = Z r 0 1 0 0 1 0 0 0 ⎛ ⎞ ⎞ X 0 ⎜ ⎟ Y⎟ 0 ⎠⎜ ⎝ Z ⎠. 20) K ⎝0 1 0 0 ⎠ T p= 0 1 Zr 0 0 0 Zr where P and p denote as before the homogeneous coordinate vector of the point P in the world reference frame, and the homogeneous coordinate vector of its projection p in the camera’s coordinate system.
15) is written in a coordinate frame (C) attached to the camera. Let us now consider the case where this frame is distinct from the world coordinate system (W ). To emphasize this, we rewrite Eq. 15) as p = Z1 MC P , where C P denotes the vector of homogeneous coordinates of the point P expressed in (C). The change of coordinates between (C) and (W ) is a rigid transformation, and it can be written as ⎞ ⎛ R t C ⎠W P , P =⎝ 0T 1 where W P is the vector of homogeneous coordinates of the point P in the coordinate frame (W ).