By Armin Gruen (auth.), Professor Armin Gruen, Professor Thomas S. Huang (eds.)
This ebook brings jointly strategies and ways from the fields of photogrammetry and laptop imaginative and prescient. particularly, it examines innovations on the subject of quantitative picture research, equivalent to orientation, digital camera modelling, process calibration, self-calibration and mistake dealing with. The chapters were contributed through specialists within the correct fields, and there are examples from automatic inspection platforms and different real-world instances. The publication offers examine fabric for college kids, researchers, builders and practitioners.
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Additional info for Calibration and Orientation of Cameras in Computer Vision
So, practically with just one representation of dR the problem can be solved as well, see . The representation of rotations by Hamilton's unit quaternions - a representation of rotation in 3D space by four parameters - offers outstanding properties: unrestricted representation of differential rotations in full parameter space and differentiation of rotations is particularly easy (see also , ). The same rotation matrix R is represented by two quaternions +q and also by -q (for a global1-1 representation of rotations a minimum number of five parameters is required).
Object points on these surfaces will give rise to multiple solutions of relative orientation not before these surfaces are in a specific position relative to the real centers of projection 0 1 , 0 2 , (Fig. 12). The axes e 1 , e 2 of two congruent pencils of planes, which generate the surface, have to be so-called adjoint generating lines (they are interchanged when rotated by 180° about the longest diameter of the hyperboloid) and have to pass through 0 1 and 0 2 . There are oo 1 pairs of adjoint generating lines, two of them, e 1, e2, are depicted in Fig.
Tienstra  solved the complete absolute orientation by a direct procedure. He was obviously the first to transform the least-squares relationships of absolute orientation into an equivalent eigenvalue problem. However, with his approach nineteen eigenvalues (corresponding to all nine elements of R, six Lagrange multipliers of orthogonality of R, three translations and one scale factor) have to be determined, a grave disadvantage! The complete closed-form and effective least-squares solution of absolute orientation was finally presented by Sanso 1973 .