A Gallery of Conics by Five Elements
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Projective Geometry: a Short Introduction
Projective Geometry: A Short Introduction Lecture Notes Edmond Boyer Master MOSIG Introduction to Projective Geometry Contents 1 Introduction 2 1.1 Objective . .2 1.2 Historical Background . .3 1.3 Bibliography . .4 2 Projective Spaces 5 2.1 Definitions . .5 2.2 Properties . .8 2.3 The hyperplane at infinity . 12 3 The projective line 13 3.1 Introduction . 13 3.2 Projective transformation of P1 ................... 14 3.3 The cross-ratio . 14 4 The projective plane 17 4.1 Points and lines . 17 4.2 Line at infinity . 18 4.3 Homographies . 19 4.4 Conics . 20 4.5 Affine transformations . 22 4.6 Euclidean transformations . 22 4.7 Particular transformations . 24 4.8 Transformation hierarchy . 25 Grenoble Universities 1 Master MOSIG Introduction to Projective Geometry Chapter 1 Introduction 1.1 Objective The objective of this course is to give basic notions and intuitions on projective geometry. The interest of projective geometry arises in several visual comput- ing domains, in particular computer vision modelling and computer graphics. It provides a mathematical formalism to describe the geometry of cameras and the associated transformations, hence enabling the design of computational ap- proaches that manipulates 2D projections of 3D objects. In that respect, a fundamental aspect is the fact that objects at infinity can be represented and manipulated with projective geometry and this in contrast to the Euclidean geometry. This allows perspective deformations to be represented as projective transformations. Figure 1.1: Example of perspective deformation or 2D projective transforma- tion. Another argument is that Euclidean geometry is sometimes difficult to use in algorithms, with particular cases arising from non-generic situations (e.g. -
Algebraic Geometry Michael Stoll
Introductory Geometry Course No. 100 351 Fall 2005 Second Part: Algebraic Geometry Michael Stoll Contents 1. What Is Algebraic Geometry? 2 2. Affine Spaces and Algebraic Sets 3 3. Projective Spaces and Algebraic Sets 6 4. Projective Closure and Affine Patches 9 5. Morphisms and Rational Maps 11 6. Curves — Local Properties 14 7. B´ezout’sTheorem 18 2 1. What Is Algebraic Geometry? Linear Algebra can be seen (in parts at least) as the study of systems of linear equations. In geometric terms, this can be interpreted as the study of linear (or affine) subspaces of Cn (say). Algebraic Geometry generalizes this in a natural way be looking at systems of polynomial equations. Their geometric realizations (their solution sets in Cn, say) are called algebraic varieties. Many questions one can study in various parts of mathematics lead in a natural way to (systems of) polynomial equations, to which the methods of Algebraic Geometry can be applied. Algebraic Geometry provides a translation between algebra (solutions of equations) and geometry (points on algebraic varieties). The methods are mostly algebraic, but the geometry provides the intuition. Compared to Differential Geometry, in Algebraic Geometry we consider a rather restricted class of “manifolds” — those given by polynomial equations (we can allow “singularities”, however). For example, y = cos x defines a perfectly nice differentiable curve in the plane, but not an algebraic curve. In return, we can get stronger results, for example a criterion for the existence of solutions (in the complex numbers), or statements on the number of solutions (for example when intersecting two curves), or classification results. -
Projective Geometry Lecture Notes
Projective Geometry Lecture Notes Thomas Baird March 26, 2014 Contents 1 Introduction 2 2 Vector Spaces and Projective Spaces 4 2.1 Vector spaces and their duals . 4 2.1.1 Fields . 4 2.1.2 Vector spaces and subspaces . 5 2.1.3 Matrices . 7 2.1.4 Dual vector spaces . 7 2.2 Projective spaces and homogeneous coordinates . 8 2.2.1 Visualizing projective space . 8 2.2.2 Homogeneous coordinates . 13 2.3 Linear subspaces . 13 2.3.1 Two points determine a line . 14 2.3.2 Two planar lines intersect at a point . 14 2.4 Projective transformations and the Erlangen Program . 15 2.4.1 Erlangen Program . 16 2.4.2 Projective versus linear . 17 2.4.3 Examples of projective transformations . 18 2.4.4 Direct sums . 19 2.4.5 General position . 20 2.4.6 The Cross-Ratio . 22 2.5 Classical Theorems . 23 2.5.1 Desargues' Theorem . 23 2.5.2 Pappus' Theorem . 24 2.6 Duality . 26 3 Quadrics and Conics 28 3.1 Affine algebraic sets . 28 3.2 Projective algebraic sets . 30 3.3 Bilinear and quadratic forms . 31 3.3.1 Quadratic forms . 33 3.3.2 Change of basis . 33 1 3.3.3 Digression on the Hessian . 36 3.4 Quadrics and conics . 37 3.5 Parametrization of the conic . 40 3.5.1 Rational parametrization of the circle . 42 3.6 Polars . 44 3.7 Linear subspaces of quadrics and ruled surfaces . 46 3.8 Pencils of quadrics and degeneration . 47 4 Exterior Algebras 52 4.1 Multilinear algebra . -
Single View Geometry Camera Model & Orientation + Position Estimation
Single View Geometry Camera model & Orientation + Position estimation What am I? Vanishing point Mapping from 3D to 2D Point & Line Goal: Homogeneous coordinates Point – represent coordinates in 2 dimensions with a 3-vector &x# &x# homogeneous coords $y! $ ! ''''''→$ ! %y" %$1"! The projective plane • Why do we need homogeneous coordinates? – represent points at infinity, homographies, perspective projection, multi-view relationships • What is the geometric intuition? – a point in the image is a ray in projective space y (sx,sy,s) (x,y,1) (0,0,0) z x image plane • Each point (x,y) on the plane is represented by a ray (sx,sy,s) – all points on the ray are equivalent: (x, y, 1) ≅ (sx, sy, s) Projective Lines Projective lines • What does a line in the image correspond to in projective space? • A line is a plane of rays through origin – all rays (x,y,z) satisfying: ax + by + cz = 0 ⎡x⎤ in vector notation : 0 a b c ⎢y⎥ = [ ]⎢ ⎥ ⎣⎢z⎦⎥ l p • A line is also represented as a homogeneous 3-vector l Line Representation • a line is • is the distance from the origin to the line • is the norm direction of the line • It can also be written as Example of Line Example of Line (2) 0.42*pi Homogeneous representation Line in Is represented by a point in : But correspondence of line to point is not unique We define set of equivalence class of vectors in R^3 - (0,0,0) As projective space Projective lines from two points Line passing through two points Two points: x Define a line l is the line passing two points Proof: Line passing through two points • More -
Read to the Infinite and Back Again
TO THE INFINITE AND BACK AGAIN Part I Henrike Holdrege A Workbook in Projective Geometry To the Infinite and Back Again A Workbook in Projective Geometry Part I HENRIKE HOLDREGE EVOLVING SCIENCE ASSOCIATION ————————————————— A collaboration of The Nature Institute and The Myrin Institute 2019 Copyright 2019 Henrike Holdrege All rights reserved. Second printing, 2019 Published by the Evolving Science Association, a collaboration of The Nature Institute and The Myrin Institute The Nature Institute: 20 May Hill Road, Ghent, NY 12075 natureinstitute.org The Myrin Institute: 187 Main Street, Great Barrington, MA 01230 myrin.org ISBN 978-0-9744906-5-6 Cover painting by Angelo Andes, Desargues 10 Lines 10 Points This book, and other Nature Institute publications, can be purchased from The Nature Institute’s online bookstore: natureinstitute.org/store or contact The Nature Institute: [email protected] or 518-672-0116. Table of Contents INTRODUCTION 1 PREPARATIONS 4 TEN BASIC ENTITIES 6 PRELUDE Form and Forming 7 CHAPTER 1 The Harmonic Net and the Harmonic Four Points 11 INTERLUDE The Infinitely Distant Point of a Line 23 CHAPTER 2 The Theorem of Pappus 27 INTERLUDE A Triangle Transformation 36 CHAPTER 3 Sections of the Point Field 38 INTERLUDE The Projective versus the Euclidean Point Field 47 CHAPTER 4 The Theorem of Desargues 49 INTERLUDE The Line at Infinity 61 CHAPTER 5 Desargues’ Theorem in Three-dimensional Space 64 CHAPTER 6 Shadows, Projections, and Linear Perspective 78 CHAPTER 7 Homologies 89 INTERLUDE The Plane at Infinity 96 CLOSING 99 ACKNOWLEDGMENTS 101 BIBLIOGRAPHY 103 I n t r o d u c t i o n My intent in this book is to allow you, the reader, to engage with the fundamental concepts of projective geometry. -
Where Parallel Lines Meet
Where Parallel Lines WhereMeet parallel lines meet ...a geometric love story Renzo Cavalieri Renzo Cavalieri Colorado State University MATH DAY 2009 University of Northern Colorado Oct 22, 2014 Renzo Cavalieri Where parallel lines meet... Renzo Cavalieri Where Parallel Lines Meet Geometry γ"!µετρια \Geos = earth" + \Metron = measure" Was developed by King Sesostris as a way to counter tax fraud! Renzo Cavalieri Where Parallel Lines Meet Abstraction Abstraction In order to study in broader generalityIn order to the study properties in broader of spaces, __________ mathematiciansgenerality the properties created concepts of spaces, thatmathematicians abstract and created generalize concepts our physicalthat abstract experience. and generalize our Forphysical example, experience. a line or a plane do not reallyFor example, exist in our a line world!or a plane do not really exist in our world! Renzo Cavalieri Where Parallel Lines Meet Renzo Cavalieri Where Parallel Lines Meet Euclid's Posulates 1 A straight line segment can be drawn joining any two points. 2 Any straight line segment can be extended indefinitely in a straight line. 3 Given any straight line segment, a circle can be drawn having the segment as radius and one endpoint as center. 4 All right angles are congruent. 5 Given a line m and a point P not belonging to m, there is a unique line through P that never intersects m. Renzo Cavalieri Where Parallel Lines Meet The parallel postulate The parallel postulate was first shaken by the following puzzle: A hunter gets off her pickup and walks south for one mile. Then she makes a 90◦ left turn and walks east for another mile. -
Euclidean Versus Projective Geometry
Projective Geometry Projective Geometry Euclidean versus Projective Geometry n Euclidean geometry describes shapes “as they are” – Properties of objects that are unchanged by rigid motions » Lengths » Angles » Parallelism n Projective geometry describes objects “as they appear” – Lengths, angles, parallelism become “distorted” when we look at objects – Mathematical model for how images of the 3D world are formed. Projective Geometry Overview n Tools of algebraic geometry n Informal description of projective geometry in a plane n Descriptions of lines and points n Points at infinity and line at infinity n Projective transformations, projectivity matrix n Example of application n Special projectivities: affine transforms, similarities, Euclidean transforms n Cross-ratio invariance for points, lines, planes Projective Geometry Tools of Algebraic Geometry 1 n Plane passing through origin and perpendicular to vector n = (a,b,c) is locus of points x = ( x 1 , x 2 , x 3 ) such that n · x = 0 => a x1 + b x2 + c x3 = 0 n Plane through origin is completely defined by (a,b,c) x3 x = (x1, x2 , x3 ) x2 O x1 n = (a,b,c) Projective Geometry Tools of Algebraic Geometry 2 n A vector parallel to intersection of 2 planes ( a , b , c ) and (a',b',c') is obtained by cross-product (a'',b'',c'') = (a,b,c)´(a',b',c') (a'',b'',c'') O (a,b,c) (a',b',c') Projective Geometry Tools of Algebraic Geometry 3 n Plane passing through two points x and x’ is defined by (a,b,c) = x´ x' x = (x1, x2 , x3 ) x'= (x1 ', x2 ', x3 ') O (a,b,c) Projective Geometry Projective Geometry -
Pencils of Conics
Chaos\ Solitons + Fractals Vol[ 8\ No[ 6\ pp[ 0960Ð0975\ 0887 Þ 0887 Elsevier Science Ltd[ All rights reserved Pergamon Printed in Great Britain \ 9859Ð9668:87 ,08[99 ¦ 9[99 PII] S9859!9668"86#99978!0 Pencils of Conics] a Means Towards a Deeper Understanding of the Arrow of Time< METOD SANIGA Astronomical Institute\ Slovak Academy of Sciences\ SK!948 59 Tatranska Lomnica\ The Slovak Republic "Accepted 7 April 0886# Abstract*The paper aims at giving a su.ciently complex description of the theory of pencil!generated temporal dimensions in a projective plane over reals[ The exposition starts with a succinct outline of the mathematical formalism and goes on with introducing the de_nitions of pencil!time and pencil!space\ both at the abstract "projective# and concrete "a.ne# levels[ The structural properties of all possible types of temporal arrows are analyzed and\ based on symmetry principles\ the uniqueness of that mimicking best the reality is justi_ed[ A profound connection between the character of di}erent {ordinary| arrows and the number of spatial dimensions is revealed[ Þ 0887 Elsevier Science Ltd[ All rights reserved 0[ INTRODUCTION The depth of our penetration into the problem is measured not by the state of things on the frontier\ but rather how far away the frontier lies[ One of the most pronounced examples of such a situation concerns\ beyond any doubt\ the nature of time[ What we have precisely in mind here is a {{puzzling discrepancy between our perception of time and what modern physical theory tells us to believe|| ð0Ł\ see -
THE HESSE PENCIL of PLANE CUBIC CURVES 1. Introduction In
THE HESSE PENCIL OF PLANE CUBIC CURVES MICHELA ARTEBANI AND IGOR DOLGACHEV Abstract. This is a survey of the classical geometry of the Hesse configuration of 12 lines in the projective plane related to inflection points of a plane cubic curve. We also study two K3surfaceswithPicardnumber20whicharise naturally in connection with the configuration. 1. Introduction In this paper we discuss some old and new results about the widely known Hesse configuration of 9 points and 12 lines in the projective plane P2(k): each point lies on 4 lines and each line contains 3 points, giving an abstract configuration (123, 94). Through most of the paper we will assume that k is the field of complex numbers C although the configuration can be defined over any field containing three cubic roots of unity. The Hesse configuration can be realized by the 9 inflection points of a nonsingular projective plane curve of degree 3. This discovery is attributed to Colin Maclaurin (1698-1746) (see [46], p. 384), however the configuration is named after Otto Hesse who was the first to study its properties in [24], [25]1. In particular, he proved that the nine inflection points of a plane cubic curve form one orbit with respect to the projective group of the plane and can be taken as common inflection points of a pencil of cubic curves generated by the curve and its Hessian curve. In appropriate projective coordinates the Hesse pencil is given by the equation (1) λ(x3 + y3 + z3)+µxyz =0. The pencil was classically known as the syzygetic pencil 2 of cubic curves (see [9], p. -
The Synthetic Treatment of Conics at the Present Time
248 SYNTHETIC TEEATMENT OF CONICS. [Feb., THE SYNTHETIC TREATMENT OF CONICS AT THE PRESENT TIME. BY DR. E. B. WILSON. ( Read before the American Mathematical Society, December 29, 1902. ) IN the August-September number of the Jahresbericht der Deutschen Mathernatiker-Vereinigung for the year 1902 Pro fessor Reye has printed an address, delivered on entering upon the rectorship of the university at Strassburg, on u Syn thetic geometry in ancient and modern times," in which he sketches in a general manner, as the nature of his audience necessitated, the differences between the methods and points of view in vogue in geometry some two thousand years ago and at the present day. The range of the present essay is by no means so extended. It covers merely the different methods which are available at the present time for the development of the elements of synthetic geometry — that is the theory of the conic sections and its relation to poles and polars. There is one method of treatment which was much in use, the world over, half a century ago. At the present time this method is perhaps best represented by Cremona's Projective Geometry, translated into English by Leudesdorf and published by the Oxford University Press, or by RusselPs Pure Geom etry from the same press. This treatment depends essentially upon the conception and numerical measure of the double or cross ratio. It starts from the knowledge the student already possesses of Euclid's Elements. This was the method of Cre mona, of Steiner, and of Chasles, as set forth in their books. -
Projective Geometry Yingkun Li 11/20/2011
UCLA Math Circle: Projective Geometry Yingkun Li 11/20/2011 This handout follows the x9 of [2] and x1 of [1]. For further information, you can check out those two wonderful books. 1 Homogeneous Coordinate On the real number line, a point is represented by a real number x if x is finite. Infinity in this setting could be represented by the symbol 1. However, it is more difficult to calculate with infinity. One way to resolve this issue is through a different coordinate system call homogeneous coordinate. For the real line, this looks a lot like fractions. Instead of using one number x 2 R, we will use two real numbers [x : y], with at least one nonzero, to represent a point on the number line. Furthermore, we define the following equivalent relationship ∼ 0 0 0 0 [x : y] ∼ [x : y ] , there exists 2 Rnf0g s.t. x = x and y = y : Now two points [x : y] and [x0 : y0] represent the same point if and only if they are equivalent. The set of coordinates f[x : y] j x; y 2 R not both zerog with the equivalence relation ∼ represents all the points on the real number line including 1, i.e. [1 : 0]. Furthermore, the operation on the real number line, such as addition, multiplication, inverse, can still be done in this new coordinate system. The line described by this coordinate system is called the projective line, denoted by the 1 symbol RP . Now it is not too difficult to extend this coordinate system to the plane. -
Announcements the Course Equation of Perspective Projection
Announcements • Assignment 0: “Getting Started with Image Formation, Matlab” is due today Cameras (cont.) • Read Chapters 1 & 2 of Forsyth & Ponce Computer Vision I CSE 252A Lecture 4 CS252A, Fall 2010 Computer Vision I CS252A, Fall 2010 Computer Vision I The course Pinhole Camera: Perspective projection • Part 1: The physics of imaging • Abstract camera model - box • Part 2: Early vision with a small hole in it • Part 3: Reconstruction • Part 4: Recognition CS252A, Fall 2010 Computer Vision I CS252A, Fall 2010 Forsyth&Ponce Computer Vision I Equation of Perspective Projection Geometric properties of projection • 3-D points map to points • 3-D lines map to lines • Planes map to whole image or half-plane • Polygons map to polygons • Important point to note: Angles & distances not preserved, nor are inequalities of angles & distances. Cartesian coordinates: • We have, by similar triangles, that (x, y, z) -> (f’ x/z, f’ y/z, f’) • Degenerate cases: • Establishing an image plane coordinate system at C’ aligned with i – line through focal point project to point and j, we get – plane through focal point projects to a line CS252A, Fall 2010 Computer Vision I CS252A, Fall 2010 Computer Vision I 1 Homogenous coordinates • Our usual coordinate system is called a Euclidean or affine coordinate system A Digression • Rotations, translations and projection in Homogenous coordinates can be expressed linearly as matrix multiplies Projective Geometry Projection Convert Convert and Homogenous Coordinates Euclidean Homogenous Homogenous Euclidean World World Image World 3D 3D 2D 2D CS252A, Fall 2010 Computer Vision I CS252A, Fall 2010 Computer Vision I What is the intersection of Do two lines in the plane always two lines in a plane? intersect at a point? No, Parallel lines don’t A Point meet at a point.