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3D model construction
3D model construction
Video Manipulation
Visual Motion
Allows us to compute useful properties of
the 3D world, with very little knowledge.
Example: Time to collision
Time to Collision
v
l(t)
t
Do
D(t)
L
t=0
Time to Collision
The image of the object has size l(t):
l(t)
t
Do
D(t)
L
t=0
Time to Collision
v
l(t)
t
Do
D(t)
L
t=0
And their ratio is:
Time to Collision
Can be
directly
measured
from image
l(t)
t
Do
L
t=0
And time to collision:
D(t)
Can be found, without knowing L or Do or v !!
u u tr u rot
u
t,
u tr
u rot
1
z r r
F
V
v
p
f
Translation
velocity
Rotation
angular
velocity
3D
Relative
Velocity:
V
P
v
p
f
Motion
Field:
the
velocity
of
p
V
P
v
p
f
Motion
Field:
the
velocity
of
p
V
P
v
p
f
Motion
Field:
the
velocity
of
p
V
P
v
p
f
Motion
Field:
the
velocity
of
p
V
Translational
component
v
p
f
Scaling ambiguity
(t and Z can only
be derived up to a scale
Factor)
Motion
Field:
the
velocity
of
p
V
Rotational
component
v
p
f
ty
tx
where p o x0 , y0 f , f is the focus of expansion (FOE)
tz
tz
or focus of contraction (FOC).
x y
f,
f is the point where the rotation axis pierces the image plane (AOR).
z z
Pure Translation
What if tz 0 ?
Pure Translation:
Properties of the MF
If tz 0 the MF is RADIAL with all vectors pointing
towards (or away from) a single point po. If tz = 0
the MF is PARALLEL.
The length of the MF vectors is inversely
proportional to depth Z. If tz 0 it is also directly
proportional to the distance between p and po.
Pure Translation:
Properties of the MF
po is the vanishing point of the direction of
translation.
po is the intersection of the ray parallel to
the translation vector and the image plane.
X
n
d
Y
Let
P
Z
Then:
where
Let
be the image of P
n
d
Y
P
p
n
d
Y
n
d
Y
where
P
Z
MF equations:
n
d
Y
P
Z
Moving Plane:
Properties of the MF
The MF of a planar surface is at any time a
quadratic function in the image coordinates.
A plane nTP=d moving with velocity V=-t- P
has the same MF than a plane with normal n=t/|t| ,
distance d and moving with velocity
V=|t|n ( + n t/d) P
-urot
utr
-urot
utr
xt z t x
v
Z
|| f ( x, y ) ||
dx dy min
2
(
f
(
x
,
y
)
)
dx dy
Substitute t x xt z
2
Z Z
yt z t y
t y yt z
We minimize d 2
min
2
2 0
Z Z
Z Z
Substitute back
u v 2 dx dy min
2 2
2 2
Z
u v
Step 2: Differentiate with respect to tx, ty, tz, set expression to zero.
u v u v
Let K
2 2
I t y yt z K dx dy 0
II t x xt z K dx dy 0
III yt x xt y K dx dy 0
yt z t y
xt z t x
( 2 2 ) dx dy min
u
v
Z
Z
|| f ( x, y ) || , f ( x, y ) 2 ( 2 2 ) dx dy
First, differentiate integrand with respect to Z and set to zero
a
u 2 v 2 0
Z Z
Z Z
dx dy min
g (t x , t y , t z )
2 2
Z
u v
g (t x , t y , t z ) at x2 bt y2 ct z2 2dt x t y 2et y t z 2 ft x t z
where
a v 2 dx dy,
b u 2 dx dy,
c ( xv yu ) dx dy,
d uv dx dy,
e u ( xv yu ) dx dy,
f v( xv yu ) dx dy,
Differentiate g( tx, ty, tz ) with respect to tx, ty, tz and set to zero
Gt 0
a
G d
f
with||t|| 1
d
b
e
e
c
2
2
v
min
rot
rot
u x xy y x 2 1 z y 0
v x y 2 1 y xy z x 0
xy
2
y f
In matrix form
x f
xy
2
x
u
y
y
v
x
A u
A A AT u
T
u u rot
v vrot
v tr
u tr
dx dy min
r
r
r
dr min
Motion Parallax
The difference in motion between two very
close points does not depend on rotation.
Can be used at depth discontinuities to obtain
the direction of translation.
FOE
Motion Parallax
u (u, v) u tr u rot
At points p1 and p 2 ( x, y ) we have
u1 , rot u 2 , rot
utr u1,tr u2,tr
1
1
( x xo )( )
Z1 Z 2
1
1
( y yo )( )
Z1 Z 2
v y y0
u x x0
Vectors perpendicular to
translational component
u
u u
tr
tr
( y y 0 , x x0 )
||( y y0 , x x0 )||
(v, u ) ( x x0 , y y0 ) 0