MachinePerceptionandInteractionGroup(MPIG)lx@mpig.com.cnMatrixinComputerVision刘祥MPIGSeminar00493D2DcameraCameraMatrixMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cn2DimagepointCameramatrix3DwordpointAcameraisamappingbetweenthe3Dworldanda2DimageMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnInhomogeneouscoordinatesMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnThepinholecameraMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnThesamecoordinatesystemMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnRtRotationandTranslationMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnInhomogeneouscoordinatesAnotherwayKcalledintrinsicparameters,RandtcalledextrinsicparametersMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnNowweknowwhat’scameramatrixP.ButhowtocomputeparametersinP?MachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnInhomogeneouscoordinatesMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnGivenAis2n×12，andtheunknownxis12×1WecancomputexlikenormalequationMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnSometimesthegivencoordinateInaccuratebecauseofnoiseAlgebraic ErrorRestrictionsMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnSolutionxistheEigenvectorcorrespondingtosmallestEigenvalueofATAMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cnMachinePerceptionandInteractionGroup(MPIG)www.mpig.com.cn
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