11: Image formation
One picture is worth a thousand words — Fred R. Barnard
This chapter discuss how images are formed and captured, the first step in robot and human perception of the world. From images we can deduce the size, shape and position of objects in the world as well as other characteristics such as color and texture.
The chapter covers:
- perspective image formation
- lens distortion models
- camera calibration: homogeneous transform approach and planar target approach
- pose estimation
- fisheye camera model
- catadioptric camera model
- spherical camera model
- unified imaging model
Links
General
- Flash applets on some technical aspects of photography (Mark Levoy etal, Stanford)
- ePnP pose estimation
- Gaussian Sphere vanishing points
- Lightfield cameras (Wilburn 2005)
- Model based vision (video), Joe Mundy (1987)
MATLAB software
- Camera calibration toolbox for Matlab, Jean-Yves Bouguet
- Matlab calibration toolbox, by Janne Heikkilä
- Wide angle camera calibration, Davide Scaramuzza
- Wide angle camera calibration, by Juho Kannala