5,321
edits
Line 281: | Line 281: | ||
Assume <math>E(x(y), y(t), t) = constant</math> | Assume <math>E(x(y), y(t), t) = constant</math> | ||
==Structure from Motion Pipeline== | |||
===Calibration=== | |||
# Step 1: Feature Matching | |||
===Fundamental Matrix and Essential Matrix=== | |||
# Step 2: Estimate Fundamental Matrix F | |||
#* <math>x_i'^T F x_i = 0</math> | |||
#* Use SVD to solve for x from <math>Ax=0</math>: <math>A=U \Sigma V^T</math>. The solution is the last singular vector of <math>V</math>. | |||
#* Essential Matrix: <math>E = K^T F K</math> | |||
#* '''Fundamental matrix has 7 degrees of freedom, essential matrix has 5 degrees of freedom''' | |||
===Estimating Camera Pose=== | |||
Estimating Camera Pose from E | |||
Pose P has 6 DoF. Do SVD of the essential matrix to get 4 potential solutions. | |||
You need to do triangulation to select from the 4 solutions. | |||
==Projects== | ==Projects== |