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Understanding Camera Design and Image Formation in Computer Vision, Lecture notes of Computer Vision

A lecture note from a computer vision course taught by greg shakhnarovich at the university of chicago in 2010. The lecture covers the basics of camera design, including the role of aperture and exposure time, and the geometry of pinhole cameras. It also discusses the impact of radial distortion on real lenses and methods for estimating and correcting distortion.

Typology: Lecture notes

2011/2012

Uploaded on 03/12/2012

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Intro to Computer Visio
Lecture 2
Greg Shakhnarovich
April 6, 2010
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Download Understanding Camera Design and Image Formation in Computer Vision and more Lecture notes Computer Vision in PDF only on Docsity!

Intro to Computer Visio

Lecture 2

Greg Shakhnarovich

April 6, 2010

Administrivia

Course webpage: http://ttic.edu/gregory/courses/vision

Planned policy: post lecture slides after each lecture.

Mailing list: https://mailman.cs.uchicago.edu/mailman/listinfo/cmsc I subscribed those officially enrolled; please make sure you are on the list (please subscribe if auditing or lurking!)

Camera design

Simplest camera: put sensor (film/CCD) in front of the object

Camera design

Simplest camera: put sensor (film/CCD) in front of the object

Camera design

Simplest camera: put sensor (film/CCD) in front of the object , shielded by a barrier with a small aperture

Camera design

Simplest camera: put sensor (film/CCD) in front of the object , shielded by a barrier with a small aperture

Camera obscura 17th century from Wikipedia

Camera design

Simplest camera: put sensor (film/CCD) in front of the object , shielded by a barrier with a small aperture

Camera obscura 17th century from Wikipedia

How does the aperture (pinhole diameter) affect the image?

How does exposure time affect the image?

Pinhole camera

Changing aperture size:

from S. Seitz’s slides

Pinhole camera

Changing aperture size:

from S. Seitz’s slides

Aperture too large: blur

Aperture too small: less light, difraction!

Thin lense model

f focal length, z 0 distance to object plane, zi distance to focal plane

1 z 0

zi

f

when z 0 → ∞, f ≈ zi

Moving focal plane by ∆zi moves image out of focus

Field of view determined by sensor size W vs. aperture size d

F -number f /# = fd

Pinhole camera geometry

Z

Y

X

C

u

v

W − 1

H − 1

image plane

d

optical axis

Image plane at Z = −d, “virtual” projection plane at Z = d

Pinhole camera geometry

Z

Y

X

C

u

v

W − 1

H − 1

image plane

d

optical axis

[X, Y, Z]

scene point

Image plane at Z = −d, “virtual” projection plane at Z = d

Pinhole camera geometry

Z

Y

X

C

u

v

W − 1

H − 1

image plane

d

[X, Y, Z]

scene point projection plane

v

u

O

d

optical axis

Image plane at Z = −d, “virtual” projection plane at Z = d Center of projection O at [0, 0 , d], with u = 0, v = 0

Pinhole camera geometry

Z

Y

X

C

u

v

W − 1

H − 1

image plane

d

[X, Y, Z]

scene point projection plane

v

u

O

d

optical axis

Image plane at Z = −d, “virtual” projection plane at Z = d Center of projection O at [0, 0 , d], with u = 0, v = 0