Camera model

Imaging geometry

1. Camera Model

2. Inverse perspective transform Inverse perspective transformation transforms image back to 2D.

3. Inverse Perspective transformation

4. Cont…………

5. Cont…………. The result obviously unexpected that because it gives Z=0 for any 3d point. The image point xo,yo corresponds to the set of collinear 3d points that lie on the line passing through (xi,yi,0) and (0,0, ).

6. Camera Model In camera Model , the problem is defined as the world and camera coordinates are separate. The camera is mounted on a gimbal which allows pan through an angle theta between x and X axes and tilt between Z and z axis. The offset of the center of the gimbal from the world coordinates is denoted by wo , and the offset of the center of imaging plane with respect to gimbal center is denoted by vector r with components (r1, r2, r3).

7. Camera Model

8. Rotation matrix R

9. Stereo imaging