Optimum Fiducials Under Weak Perspective Projection

1.研究内容

We investigate how a given fixed number of points should be located inspace so that the pose of a camera viewing them from unknown locations can beestimated with the greatest accuracy.

研究如何将一组给定的点精确映射到以相机视角为坐标的空间中的点

how should we design 3-D point patterns or constellations that bestexploit the volume allocated to them in the sense of providing the most precise3-dimensional location and orientation information when viewed from arbitrary(but sufficiently distant) places to justify the weak perspective assumption?

 

重点关注：recover orientationand translation of known constellations of points viewed by a weak perspectivecamera.这一方面

Applications

In many applications, there is a need to locate and track objects inspace from sequences of images provided by a calibrated camera（标准相机）。

3.关键术语描述

weak perspective approximation

 

orthographic projection

 

true perspective viewing

4.公式

in the world coordinate system 已知一组点坐标 来自于一个相机的观察，

These points may be observed from a camera in any position, and thusthe camera coordinate system，is related to the world coordinate system by anarbitrary rotation R and translation T

因此相机的坐标系统可以依赖自然坐标系，采用R和T的旋转和平移方式。

A point  in thecamera system corresponding to  in the world systemthereby satisfies

In the image planeof the camera.

Under true perspective viewing with acamera having a focal length f , the projection equations are