A tutorial on affine and projective geometries

A N I N T R O D U C T I O N TO P O S E E S T I M AT I O N
S N E H A L I . B H AYA N I
201211008 M .T E C H ( I C T ) `

What is pose estimation?

The problem Methods, a broad classification

The analytical and geometric approach

The four main types of pose estimation 1 problems

2D-2D pose estimation problem 3D-3D pose estimation problem
Relates to rigid motions in 3D coordinate system.

2D perspective-3D pose estimation problem 2D perspective-2D perspective pose estimation problem

Related to two-view geometry.

1R.M.

Haralick, Hyonam joo, D. Lee, S. Zhuang, V.G.Vaidya, and M.B. Kim. Pose estimation from corresponding point data. Systems, Man and cybernetics,ieee transactions on, 19(6):14261446, 1989.

Pin hole camera

2 model

Figure 1 A simple pin-hole camera

Figure 2 A coordinate system for a pinhole camera model

2More

on camera models can be found in Richard Hartley and Andrew Zisserman. Multiple view geometry in computer vision. Cambridge,

2003.

Camera rotation and translation

= where is the coordinate vector of the camera center. And represents the same point but in camera coordinate frame. And is the rotation matrix. And = , 0 1 where is the vector for point and is the vector for point . Hence =

Figure 3 The euclidean transformation between the world and camera coordinate frames3

Why projective geometry?

Study of Invariants
Which properties of Euclidean geometry are invariant?3

Pros of a projective geometry:

Camera as a projective model is naturally a homography or a projective transform. Lesser invariants Other geometries are special cases of projective geometry. Duality of lines, points, planes

Homogeneous coordinates help in linearizing a certain mathematical relationship. And hence we represent the relationship as a matrix multiplication. = . Where is the desired matrix mapping in 3D camera coordinate system to in 2D image plane coordinate system
3A

systematic study of invariants of transformations for geometrical objects can be found in James R smart. Modern geometries. Cengage learning, 1997 and Rey casse. Projective geometry: an introduction. Oxford university press, 2006.

From affine to projective

Affine completion for projective space. (+1 ) = = + = + 1 + 1 The points at infinity, a change in representation. The invariants. Parallelism invariant to affine transform but not to a projective transform.

Duality
A significant reason for studying projective geometry is its simplicity. dimensional vector space has every 1 dimensional subspace dual to 1 dimensional subspace. Eg in 3 we have a plane to be a dual of a point and lines are their own duals. Hyperplanes,
+1 =1

= 0.

Represented by the point 1 , , +1 in +1 upto a non-zero scalar multiplication. Hence a point in represents a unique hyperplane in +1 and hence a unique hyperplane in .

The need for homography

Camera calibration.
Intrinsic parameters :
Focal length ( ) Scaling along image axes ( , ) Skew () Translation (0, 0)

Figure 4 A case where the centers of image plane and that of camera coordinate system dont coincide.

Extrinsic parameters :
3D Rotation () 3D translation ()

Figure 5 A case where the camera coordinate system is a rotated version of the world coordinate system.
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The need for homography

Epipolar geometry.#

Figure 6 A homography or projective correspondence between two images of the same object via a third plane .

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Fundamental matrix ()
Point point correspondence Point line correspondence

Given a set of point correspondences for two images of the same scene but with different poses,
= 0 for all correspondences. is of rank 2 with seven degrees of freedom.

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Properties and Computation of

= [ ] where is the projection matrix of second camera and is psuedo inverse of the projection matrix of first camera. Epipolar line homography.

Figure 7a Figure 7b Line-line correspondence between two projective planes.

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Where from here

Various approaches to pose estimation and computer vision.
Calibrated and non-calibrated approached.

Degeneracy and noise elimination.

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Thank you Any questions?

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