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Bild I

x. y. Bild I. x. y. Bild I.  2. “ Kante ”  2 >>  1. “ Ecke ”  1 und  2 groß ,  1 ~  2 ; starke Änderung in alle Richtungen.  1 und  2 klein ; Änderung in alle Richtungen ~ konstant klein. Homo- gene region. “ Kante ”  1 >>  2.  1.

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Bild I

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  1. x y Bild I

  2. x y Bild I

  3. 2 “Kante” 2 >> 1 “Ecke”1und 2groß,1 ~ 2;starkeÄnderungin alleRichtungen 1und 2klein;Änderung in alleRichtungen ~ konstantklein Homo- gene region “Kante” 1 >> 2 1 Wenn dann Ecke

  4. 2 “Kante” R < 0 “Ecke”R>>0;starkeÄnderungin alleRichtungen Homo- gene region “Kante” R < 0 |R| klein 1

  5. x y Bild I

  6. Gerade x Urbild von Ebene P Urbild von L Linie L Bildebene

  7. Linie L1 Linie L2 Bildebene

  8. y y Bildebene x x x y

  9. Intrinsische Kameraparameter Horizontale Auflösung Vertikale Auflösung Pixel Breite in m Pixel Höhe in m Hauptpunkt x-Koordinate in Pixel Hauptpunkt y-Koordinate in Pixel Horizontal Skalierung in 1/m Vertikale Skalierung in 1/m SkewFactor Kamera Matrix:

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