INVERSIVE PLANES of EVEN ORDER 1. Results. an Inversive
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Robot Vision: Projective Geometry
Robot Vision: Projective Geometry Ass.Prof. Friedrich Fraundorfer SS 2018 1 Learning goals . Understand homogeneous coordinates . Understand points, line, plane parameters and interpret them geometrically . Understand point, line, plane interactions geometrically . Analytical calculations with lines, points and planes . Understand the difference between Euclidean and projective space . Understand the properties of parallel lines and planes in projective space . Understand the concept of the line and plane at infinity 2 Outline . 1D projective geometry . 2D projective geometry ▫ Homogeneous coordinates ▫ Points, Lines ▫ Duality . 3D projective geometry ▫ Points, Lines, Planes ▫ Duality ▫ Plane at infinity 3 Literature . Multiple View Geometry in Computer Vision. Richard Hartley and Andrew Zisserman. Cambridge University Press, March 2004. Mundy, J.L. and Zisserman, A., Geometric Invariance in Computer Vision, Appendix: Projective Geometry for Machine Vision, MIT Press, Cambridge, MA, 1992 . Available online: www.cs.cmu.edu/~ph/869/papers/zisser-mundy.pdf 4 Motivation – Image formation [Source: Charles Gunn] 5 Motivation – Parallel lines [Source: Flickr] 6 Motivation – Epipolar constraint X world point epipolar plane x x’ x‘TEx=0 C T C’ R 7 Euclidean geometry vs. projective geometry Definitions: . Geometry is the teaching of points, lines, planes and their relationships and properties (angles) . Geometries are defined based on invariances (what is changing if you transform a configuration of points, lines etc.) . Geometric transformations -
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 -
Projective Geometry at Chalmers in the Fall of 1989
Table of Contents Introduction ........................ 1 The Projective Plane ........................ 1 The Topology of RP 2 ........................ 3 Projective Spaces in General ........................ 4 The Riemannsphere and Complex Projective Spaces ........................ 4 Axiomatics and Finite Geometries ........................ 6 Duality and Conics ........................ 7 Exercises 1-34 ........................ 10 Crossratio ........................ 15 The -invariant ........................ 16 Harmonic Division ........................ 17 Involutions ........................ 17 Exercises 35-56 ........................ 19 Non-Singular Quadrics ........................ 22 Involutions and Non-Singular Quadrics ........................ 26 Exercises 57-76 ........................ 28 Ellipses,Hyperbolas,Parabolas and circular points at ........................ 31 The Space of Conics ∞ ........................ 32 Exercises 77-105 ........................ 37 Pencils of Conics ........................ 40 Exercises 106-134 ........................ 43 Quadric Surfaces ........................ 46 Quadrics as Double Coverings ........................ 49 Hyperplane sections and M¨obius Transformations ........................ 50 Line Correspondences ........................ 50 Conic Correspondences ........................ 51 Exercises 135-165 ........................ 53 Birational Geometry of Quadric Surfaces ........................ 56 Blowing Ups and Down ........................ 57 Cremona Transformations ....................... -
11. in the American Journal of Mathematics, Volume 34 (1912), Page 173, Mr
1914.] INFINITE REGIONS OF VARIOUS GEOMETRIES. 185 11. In the American Journal of Mathematics, volume 34 (1912), page 173, Mr. Schweitzer has shown how to generate a quasi-four-dimensional geometry ARi0J by adjoining a point tac 3 tically to the system jR3 and assuming the axiom "aRfiyôe implies dReafiy " which ensures that the generating relation is alter nating. The resulting system is sufficient for the usual three- dimensional projective geometry if an axiom expressing Dede- kind continuity (suitably modified for projective geometry) is added. This geometry 4Ril) may be regarded as underlying a system of four-dimensional simplexes inscribed in a hyper- sphere. In the Archiv der Mathematik una1 Physik, volume 21 (1913), page 204, E. Study has remarked that the figure of five ordered real points, no four of which are coplanar, has a (single) property, "signatur" (+) or ( — ), which is not disturbed by positive real collineations. It seems simpler and altogether more convenient to regard Study's figure of five points with positive or negative "signatur" as a sensed simplex in quasi- four space as indicated above. O. D. KELLOGG, Secretary of the Section.. THE INFINITE REGIONS OF VARIOUS GEOMETRIES. BY PROFESSOE MAXIME BÔCHER. (Read before the American Mathematical Society, September 8, 1913.) MOST geometers are now conscious that the introduction of points at infinity in such a way that in plane geometry they form a line, in three-dimensional geometry a plane, is, to a large extent, an arbitrary convention; but few of them would probably admit that this remark has much practical importance (except in so far as they might regard any question concerning the logical foundation of geometry as having practical importance) since the convention here referred to is commonly regarded as being the only desirable one. -
Line Geometry and Electromagnetism I: Basic Structures
Line geometry and electromagnetism I: basic structures D. H. Delphenich Kettering, OH 45440 Abstract. Some key notions of line geometry are recalled, along with their application to mechanics. It is then shown that most of the basic structures that one introduces in the pre-metric formulation of electromagnetism can be interpreted directly in terms of corresponding concepts in line geometry. The results are summarized in a table. Table of contents Page 1. Introduction ………………………………………………………………………………….. 1 2. Projective geometry ………………………………………………………………………….. 3 a. Projective spaces 3 b. Correlations 5 3. Line geometry ………………………………………………………………………………… 8 a. The description of lines 8 b. Plücker-Klein embedding. 9 2 c. Time-space decompositions of Λ2 and Λ 11 d. Line complexes 14 4. Applications to mechanics …………………………………………………………………… 16 a. The representation of infinitesimal rigid motions 16 b. The representation of forces and moments 18 c. Constitutive laws, correlations, and quadratic line complexes 19 d. Rest spaces in special relativity 19 5. Applications to electromagnetism …………………………………………………………… 20 a. Pre-metric electromagnetism 20 b. Line-geometric interpretation of the basic electromagnetic structures 21 c. Electromagnetic interpretation of the Klein quadric 23 d. Constitutive laws, correlations, and quadratic line complexes 23 6. Summary ………………………………………………………………………………………. 24 References ……………………………………………………………………………………… 25 1. Introduction. Prior to the success of Einstein’s theory of gravitation – i.e., general relativity – the pre-eminent branch of geometry was projective geometry. Indeed, the place of projective geometry in physics was much more widely known by physicists in the pre-Einstein era, mostly by way of its role in mechanics and geometrical optics. Furthermore, one’s education as a geometer would have been regarded as fundamentally incomplete until one was well-versed in the concepts and methods of projective analytical geometry. -
Projective Geometry: from Foundations to Applications
Projective Geometry: From Foundations to Applications Albrecht Beutelspacher and Ute Rosenbaum RIll CAMBRIDGE ~ UNIVERSITY PRESS Content PUBLISHED BY THE PRESS SYNDICATE OF THE UNIVERSITY OF CAMBRIDGE The Pitt Building, Trumpington Street, Cambridge CB2 lRP, United Kingdom CAMBRIDGE UNIVERSITY PRESS The Edinburgh Building, Cambridge, CB2 2RU, United Kingdom 1 Synthetic geometry 1 40 West 20th Street, New York, NY 10011-4211, USA 10 Stamford Road, Oakleigh, Melbourne 3166, Australia 1.1 Foundations 1.2 The axioms of projective geometry 5 © Cambridge University Press 1998 1.3 Structure of projective geometry 10 1.4 Quotient geometries 20 This book is in copyright. Subject to statutory exception and to the provisions of relevant collective licensing agreements, 1.5 Finite projective spaces 23 no reproduction of any part may take place without 1.6 Affine geometries 27 the written permission of Cambridge University Press. 1.7 Diagrams 32 1.8 Application: efficient communication 40 First published 1998 Exercises 43 Printed in the United Kingdom at the University Press, Cambridge True or false? 50 Project 51 You should know the following notions 53 A catalogue record for this book is available from the British Library 2 Analytic geometry 55 Library of Congress Calaloging in Publication Data 2.1 The projective space P(V) 55 Beutelspacher, A. (Albrecht), 1950- 2.2 The theorems of Desargues and Pappus 59 [Projektive Geometrie. English] 2.3 Coordinates 65 Projective Geometry: from foundations to applications I 2.4 The hyperbolic quadric of PG(3, F) 69 A. Beutelspacher, U. Rosenbaum. 2.5 Normal rational curves 74 p. cm. Includes bibliographical references (p. -
Mathematical Principles in Vision and Graphics: Projective Geometry
Mathematical Principles in Vision and Graphics: Projective Geometry Ass.Prof. Friedrich Fraundorfer SS 2019 Learning goals . Understand image formation mathematically . Understand homogeneous coordinates . Understand points, line, plane parameters and interpret them geometrically . Understand point, line, plane interactions geometrically . Analytical calculations with lines, points and planes . Understand the difference between Euclidean and projective space . Understand the properties of parallel lines and planes in projective space . Understand the concept of the line and plane at infinity 2 Outline . Axioms of geometry . Differences between Euclidean and projective geometry . 2D projective geometry ▫ Homogeneous coordinates ▫ Points, Lines ▫ Duality . 3D projective geometry ▫ Points, Lines, Planes ▫ Duality ▫ Plane at infinity ▫ Image formation 3 Literature . Multiple View Geometry in Computer Vision. Richard Hartley and Andrew Zisserman. Cambridge University Press, March 2004. Mundy, J.L. and Zisserman, A., Geometric Invariance in Computer Vision, Appendix: Projective Geometry for Machine Vision, MIT Press, Cambridge, MA, 1992 . Available online: www.cs.cmu.edu/~ph/869/papers/zisser-mundy.pdf 4 Motivation – Image formation [Source: Charles Gunn] 5 Motivation – Parallel lines [Source: Flickr] 6 Motivation – Epipolar constraint X world point epipolar plane x x’ x‘TEx=0 C T C’ R 7 Plane Euclidean and Projective Geometries Euclidean Projective 1. There exist at least three points not 1. There exist a point and a line that incident with the same line are not incident. 2. Every line is incident with at least 2. Every line is incident with at least two distinct points. three distinct points. 3. Every point is incident with at least 3. Every point is incident with at least two distinct lines.