Naming conventions used for the files :

The above directories contain at the following files :

One assumes that the observations u0(2*f-i,p), for f=1..N, p=1..P and i=1..2, are obtained through the perspective projection model. We first define the simplified projection model :

               a(3*f-i,:)*(x(:,p)+t(3*f-2:3*f))
V(2*f-i,p)  =  -------------------------------- 
               a(3*f,:)  *(x(:,p)+t(3*f-2:3*f))

This is the projection of the 3D point on the image plane, assuming that the focal length is 1, the sensor is skewless, the aspect ratio is 1 and the coordinates are taken relative to the principal point.

The full projection model also integates the skew, aspect ratio, focal length, principal point and noise.


u0(2*f-[1,0],p)  = exp(-k(5)) * ( K * V(2*f-[1,0],p) + C ) + Noise

Where


K           = [   1              0  ]        Represents the skew of the
              [ 10*k(1)  10*k(2)+1  ]        sensor and its aspect ratio.

and

C           = 10*[ k(3) ]                    Is the image center 
                 [ k(5) ]                    ("principal point")

The focal length of the camera is exp(k(5)).

More details can be found in many documents on computer vision, for example, at CVonline.

  • ml_all.wrl contain the same data as ml_all.m, but represented as vrml code. This file is provided only for illustration purpose.

  • parent directory