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Diapositivo 1 VC 11/12 – T2 Image Formation Mestrado em Ciência de Computadores Mestrado Integrado em Engenharia de Redes e Sistemas Informáticos Miguel Tavares Coimbra Outline • „Computer Vision‟? • The Human Visual System • Image Capturing Systems Acknowledgements: Most of this course is based on the excellent courses offered by Prof. Shree Nayar at Columbia University, USA and by Prof. Srinivasa Narasimhan at CMU, USA. Please acknowledge the original source when reusing these slides for academic purposes. VC 11/12 - T2 - Image Formation Topic: Computer Vision? • „Computer Vision‟? • The Human Visual System • Image Capturing Systems VC 11/12 - T2 - Image Formation A Picture is Worth 1000 Words VC 11/12 - T2 - Image Formation A Picture is Worth 100.000 Words VC 11/12 - T2 - Image Formation A Picture is Worth a Million Words VC 11/12 - T2 - Image Formation A Picture is Worth a ...? Necker‟s Cube Reversal VC 11/12 - T2 - Image Formation A Picture is Worth a ...? Checker Shadow Illusion [E. H. Adelson] VC 11/12 - T2 - Image Formation A Picture is Worth a ...? Checker Shadow Illusion [E. H. Adelson] VC 11/12 - T2 - Image Formation Human Vision • Can do amazing things like: – Recognize people and objects – Navigate through obstacles – Understand mood in the scene – Imagine stories • But: – Suffers from Illusions – Ignores many details – Ambiguous description of the world – Doesn‟t care about accuracy of world VC 11/12 - T2 - Image Formation Digital Images What we see What a computer sees VC 11/12 - T2 - Image Formation Computer Vision “The goal of Computer Vision is to make useful decisions about real physical objects and scenes based on sensed images”, Shapiro and Stockman, “Computer Vision”, 2001 VC 11/12 - T2 - Image Formation Components of a Computer Vision System Camera Lighting Computer Scene Scene Interpretation VC 11/12 - T2 - Image Formation Topic: The Human Visual System • „Computer Vision‟? • The Human Visual System • Image Capturing Systems VC 11/12 - T2 - Image Formation Our Eyes Iris Pupil Sclera Cornea -Iris is the diaphragm that changes the aperture (pupil) -Retina is the sensor where the fovea has the highest resolution VC 11/12 - T2 - Image Formation Focusing shorter focal length Changes the focal length of the lens VC 11/12 - T2 - Image Formation Myopia and Hyperopia (myopia) VC 11/12 - T2 - Image Formation Astigmatism The cornea is distorted causing images to be un-focused on the retina. VC 11/12 - T2 - Image Formation Blind Spot in the Eye Close your right eye and look directly at the “+” VC 11/12 - T2 - Image Formation Colour • Our retina has: – Cones – Measure the frequency of light (colour) • 6 to 7 millions • High-definition • Need high luminosity – Rods – Measure the intensity of light (luminance) Gonzalez & Woods • 75 to 150 millions • Low-definition • Function with low We only see colour in the luminosity center of our retina! VC 11/12 - T2 - Image Formation Topic: Image Capturing Systems • „Computer Vision‟? • The Human Visual System • Image Capturing Systems VC 11/12 - T2 - Image Formation A Brief History of Images 1544 Camera Obscura, Gemma Frisius, 1544 VC 11/12 - T2 - Image Formation A Brief History of Images 1544 1568 Lens Based Camera Obscura, 1568 VC 11/12 - T2 - Image Formation A Brief History of Images 1544 1568 1837 Still Life, Louis Jaques Mande Daguerre, 1837 VC 11/12 - T2 - Image Formation A Brief History of Images 1544 1568 1837 Silicon Image Detector, 1970 1970 VC 11/12 - T2 - Image Formation A Brief History of Images 1544 1568 1837 1970 Digital Cameras 1995 VC 11/12 - T2 - Image Formation Components of a Computer Vision System Camera Lighting Computer Scene Scene Interpretation VC 11/12 - T2 - Image Formation Pinhole and the Perspective Projection Is an image being formed (x,y) on the screen? screen YES! But, not a “clear” one. image plane scene r (x, y, z) y optical effective focal length, f‟ z axis pinhole x r' r x' x y' y r'(x', y', f ') f ' z f ' z f ' z VC 11/12 - T2 - Image Formation Pinhole Camera • Basically a pinhole camera is a box, with a tiny hole at one end and film or photographic paper at the other. • Mathematically: out of all the light rays in the world, choose the set of light rays passing through a point and projecting onto a plane. VC 11/12 - T2 - Image Formation Pinhole Photography ©Charlotte Murray Untitled, 4" x 5" pinhole photograph, 1992 Image Size inversely proportional to Distance Reading: http://www.pinholeresource.com/ VC 11/12 - T2 - Image Formation Magnification A(x, y, z) B y d B(x x, y y, z) optical f‟ z A axis Pinhole A‟ d‟ x planar scene image plane B‟ A'(x', y', f ') B'(x'x', y'y', f ') From perspective projection: Magnification: x' x y' y d' (x')2 (y')2 f ' f ' z f ' z m d (x)2 (y)2 z x'x' x x y'y' y y Areaimage 2 f ' z f ' z m Areascene VC 11/12 - T2 - Image Formation Problems with Pinholes • Pinhole size (aperture) must be “very small” to obtain a clear image. • However, as pinhole size is made smaller, less light is received by image plane. • If pinhole is comparable to wavelength of incoming light, DIFFRACTION blurs the image! • Sharpest image is obtained when: pinhole diameter d 2 f ' Example: If f’ = 50mm, = 600nm (red), d = 0.36mm VC 11/12 - T2 - Image Formation Image Formation using Lenses • Lenses are used to avoid problems with pinholes. • Ideal Lens: Same projection as pinhole but gathers more light! i o P P’ f 1 1 1 • Gaussian Thin Lens Formula: i o f • f is the focal length of the lens – determines the lens‟s ability to refract light VC 11/12 - T2 - Image Formation Focus and Defocus aperture aperture Blur Circle, b diameter d i o i' o' • Gaussian Law: f f (i'i) (o o') 1 1 1 (o' f ) (o f ) 1 1 1 i o f i' o' f • In theory, only one scene plane is in focus. VC 11/12 - T2 - Image Formation Depth of Field • Range of object distances over which image is sufficiently well focused. • Range for which blur circle is less than the resolution of the sensor. http://images.dpchallenge.com/images_portfolio/27920/print_preview/116336.jpg VC 11/12 - T2 - Image Formation Chromatic Aberration longitudinal chromatic aberration transverse chromatic aberration (axial) (lateral) VC 11/12 - T2 - Image Formation Image Sensors • Considerations • Speed • Resolution • Signal / Noise Ratio • Cost VC 11/12 - T2 - Image Formation Image Sensors • Convert light into an electric charge CCD (charge coupled device) CMOS (complementary metal Oxide semiconductor) Higher dynamic range Lower voltage High uniformity Higher speed Lower noise Lower system complexity VC 11/12 - T2 - Image Formation CCD Performance Characteristics • Linearity Principle: Incoming photon flux vs. Output Signal • Sometimes cameras are made non-linear on purpose. • Calibration must be done (using reflectance charts)---covered later • Dark Current Noise: Non-zero output signal when incoming light is zero • Sensitivity: Minimum detectable signal produced by camera VC 11/12 - T2 - Image Formation Sensing Brightness Incoming light has a spectral distribution p So the pixel intensity becomes I k qpd VC 11/12 - T2 - Image Formation How do we sense colour? • Do we have infinite number of filters? rod cones Three filters of different spectral responses VC 11/12 - T2 - Image Formation Sensing Colour • Tristimulus (trichromatic) values IR , IG , IB Camera’s spectral response functions: hR ,hG ,hB hB hG I k h p d R R hR I k h p d G G I k h p d B B VC 11/12 - T2 - Image Formation Sensing Colour 3 CCD light beam splitter Bayer pattern Foveon X3TM VC 11/12 - T2 - Image Formation Resources • J.C. Russ – Chapters 1 and 2 • L. Shapiro, and G. Stockman – Chapter 1 • “Color Vision: One of Nature's Wonders” in http://www.diycalculator.com/sp- cvision.shtml VC 11/12 - T2 - Image Formation.
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