ECE 564 Computer Vision Assignment 8
Submit HTML documentation and MATLAB code on Isidore.
- Use an image set (two images) of your product. Use
cpselect to choose matching
points from each image. Use
estimateFundamentalMatrix to calculate the Fundamental
matrix and verify that imgA*F*imgB' = 0 for matching image points. Calculate the Essential matrix from the
fundamental matrix, using your intrinsic matrix from an earlier calibration.
- Use the same image set. Find the extrinsics (R and T)
using the checkerboard corners. Use the extrinsics to find the Essential matrix. Verify
that xA*E*xB' = 0 for matching normalized camera points. Then calculate the Fundamental matrix from
the Essential matrix. Compare to the fundamental matrix calculated in the previous problem.
- Use the same image set and extrinsics. Triangulate (back project) to find significant
coordinates (top corners, for example) of your product. Compute the back projection errors for each
case. Compare the back-projected dimensions to known, measured values of your product box.
- Use the same image set and fundamental matrices deterined earlier. Select a feature in
image A and its corresponding image point (imgA) to determine the epipolar line in image B. Draw the
line on image B and verify that it passes through (or very close to) the matching point in image B.
Draw two such epipolar lines and calculate their intersection. Show that this point (epipole) can be
- Write MATLAB programs to reproduce the figures below
- Shading examples using lighting
- Variations of diffuse and specular reflection
- Varying the SpecularExponent
- Varying the SpecularColorReflectance
Maintained by John Loomis,
last updated 18 April 2016