1 / 77

Last lecture

Last lecture. Passive Stereo Spacetime Stereo. Today. Structure from Motion: Given pixel correspondences, how to compute 3D structure and camera motion?. Slides stolen from Prof Yungyu Chuang. Epipolar geometry & fundamental matrix. The epipolar geometry.

laurel-jacobson
Download Presentation

Last lecture

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Last lecture • Passive Stereo • Spacetime Stereo

  2. Today • Structure from Motion: Given pixel correspondences, how to compute 3D structure and camera motion? Slides stolen from Prof Yungyu Chuang

  3. Epipolar geometry & fundamental matrix

  4. The epipolar geometry What if only C,C’,x are known?

  5. The epipolar geometry C,C’,x,x’ and X are coplanar epipolar geometry demo

  6. The epipolar geometry All points on  project on l and l’

  7. The epipolar geometry Family of planes  and lines l and l’ intersect at e and e’

  8. The epipolar geometry epipolar plane = plane containing baseline epipolar line = intersection of epipolar plane with image epipolar pole = intersection of baseline with image plane = projection of projection center in other image epipolar geometry demo

  9. p p’ T=C’-C The equation of the epipolar plane through X is The fundamental matrix F R C’ C

  10. essential matrix The fundamental matrix F

  11. p p’ T=C’-C The fundamental matrix F R C’ C

  12. Let M and M’ be the intrinsic matrices, then fundamental matrix The fundamental matrix F

  13. p p’ T=C’-C The fundamental matrix F R C’ C

  14. The fundamental matrix F • The fundamental matrix is the algebraic representation of epipolar geometry • The fundamental matrix satisfies the condition that for any pair of corresponding points x↔x’ in the two images

  15. The fundamental matrix F F is the unique 3x3 rank 2 matrix that satisfies x’TFx=0 for all x↔x’ • Transpose: if F is fundamental matrix for (P,P’), then FT is fundamental matrix for (P’,P) • Epipolar lines: l’=Fx & l=FTx’ • Epipoles: on all epipolar lines, thus e’TFx=0, x e’TF=0, similarly Fe=0 • F has 7 d.o.f. , i.e. 3x3-1(homogeneous)-1(rank2) • F maps from a point x to a line l’=Fx (not invertible)

  16. The fundamental matrix F • It can be used for • Simplifies matching • Allows to detect wrong matches

  17. Estimation of F — 8-point algorithm • The fundamental matrix F is defined by for any pair of matches x and x’ in two images. • Let x=(u,v,1)T and x’=(u’,v’,1)T, each match gives a linear equation

  18. 8-point algorithm • In reality, instead of solving , we seek f to minimize , least eigenvector of .

  19. 8-point algorithm • To enforce that F is of rank 2, F is replaced by F’ that minimizes subject to . • It is achieved by SVD. Let , where • , let • then is the solution.

  20. 8-point algorithm % Build the constraint matrix A = [x2(1,:)‘.*x1(1,:)' x2(1,:)'.*x1(2,:)' x2(1,:)' ... x2(2,:)'.*x1(1,:)' x2(2,:)'.*x1(2,:)' x2(2,:)' ... x1(1,:)' x1(2,:)' ones(npts,1) ]; [U,D,V] = svd(A); % Extract fundamental matrix from the column of V % corresponding to the smallest singular value. F = reshape(V(:,9),3,3)'; % Enforce rank2 constraint [U,D,V] = svd(F); F = U*diag([D(1,1) D(2,2) 0])*V';

  21. 8-point algorithm • Pros: it is linear, easy to implement and fast • Cons: susceptible to noise

  22. ! Problem with 8-point algorithm ~100 ~10000 ~100 ~10000 ~10000 ~100 ~100 1 ~10000 Orders of magnitude difference between column of data matrix  least-squares yields poor results

  23. Normalized 8-point algorithm normalized least squares yields good results Transform image to ~[-1,1]x[-1,1] (0,500) (700,500) (-1,1) (1,1) (0,0) (0,0) (700,0) (-1,-1) (1,-1)

  24. Normalized 8-point algorithm • Transform input by , • Call 8-point on to obtain

  25. Normalized 8-point algorithm A = [x2(1,:)‘.*x1(1,:)' x2(1,:)'.*x1(2,:)' x2(1,:)' ... x2(2,:)'.*x1(1,:)' x2(2,:)'.*x1(2,:)' x2(2,:)' ... x1(1,:)' x1(2,:)' ones(npts,1) ]; [U,D,V] = svd(A); F = reshape(V(:,9),3,3)'; [U,D,V] = svd(F); F = U*diag([D(1,1) D(2,2) 0])*V'; [x1, T1] = normalise2dpts(x1); [x2, T2] = normalise2dpts(x2); % Denormalise F = T2'*F*T1;

  26. Normalization function [newpts, T] = normalise2dpts(pts) c = mean(pts(1:2,:)')'; % Centroid newp(1,:) = pts(1,:)-c(1); % Shift origin to centroid. newp(2,:) = pts(2,:)-c(2); meandist = mean(sqrt(newp(1,:).^2 + newp(2,:).^2)); scale = sqrt(2)/meandist; T = [scale 0 -scale*c(1) 0 scale -scale*c(2) 0 0 1 ]; newpts = T*pts;

  27. RANSAC repeat select minimal sample (8 matches) compute solution(s) for F determine inliers until (#inliers,#samples)>95% or too many times compute F based on all inliers

  28. Results (ground truth)

  29. Results (8-point algorithm)

  30. Results (normalized 8-point algorithm)

  31. From F to R, T If we know camera parameters Hartley and Zisserman, Multiple View Geometry, 2nd edition, pp 259

  32. Application: View morphing

  33. Application: View morphing

  34. Main trick • Prewarp with a homography to rectify images • So that the two views are parallel • Because linear interpolation works when views are parallel

  35. Problem with morphing • Without rectification

  36. morph morph prewarp prewarp output input input homographies

  37. Video demo

  38. Triangulation • Problem: Given some points in correspondence across two or more images (taken from calibrated cameras), {(uj,vj)}, compute the 3D location X CSE 576 (Spring 2005): Computer Vision

  39. Triangulation • Method I: intersect viewing rays in 3D, minimize: • X is the unknown 3D point • Cj is the optical center of camera j • Vj is the viewing ray for pixel (uj,vj) • sj is unknown distance along Vj • Advantage: geometrically intuitive X Vj Cj CSE 576 (Spring 2005): Computer Vision

  40. Triangulation • Method II: solve linear equations in X • advantage: very simple • Method III: non-linear minimization • advantage: most accurate (image plane error) CSE 576 (Spring 2005): Computer Vision

  41. Structure from motion

  42. Structure from motion structure from motion: automatic recovery of camera motion and scene structure from two or more images. It is a self calibration technique and called automatic camera tracking or matchmoving. Unknown camera viewpoints

  43. Applications • For computer vision, multiple-view shape reconstruction, novel view synthesis and autonomous vehicle navigation. • For film production, seamless insertion of CGI into live-action backgrounds

  44. Structure from motion geometry fitting 2D feature tracking 3D estimation optimization (bundle adjust) SFM pipeline

  45. Structure from motion • Step 1: Track Features • Detect good features, Shi & Tomasi, SIFT • Find correspondences between frames • Lucas & Kanade-style motion estimation • window-based correlation • SIFT matching

  46. Structure from Motion • Step 2: Estimate Motion and Structure • Simplified projection model, e.g., [Tomasi 92] • 2 or 3 views at a time [Hartley 00]

  47. Structure from Motion • Step 3: Refine estimates • “Bundle adjustment” in photogrammetry • Other iterative methods

  48. Structure from Motion • Step 4: Recover surfaces (image-based triangulation, silhouettes, stereo…) Good mesh

More Related