TRANSFORMATIONS and SYMMETRY 1.2.1 – 1.2.5 Example 1
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												  Projective Geometry: a Short IntroductionProjective 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.
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												  Lecture 12: Camera ProjectionRobert Collins CSE486, Penn State Lecture 12: Camera Projection Reading: T&V Section 2.4 Robert Collins CSE486, Penn State Imaging Geometry W Object of Interest in World Coordinate System (U,V,W) V U Robert Collins CSE486, Penn State Imaging Geometry Camera Coordinate Y System (X,Y,Z). Z X • Z is optic axis f • Image plane located f units out along optic axis • f is called focal length Robert Collins CSE486, Penn State Imaging Geometry W Y y X Z x V U Forward Projection onto image plane. 3D (X,Y,Z) projected to 2D (x,y) Robert Collins CSE486, Penn State Imaging Geometry W Y y X Z x V u U v Our image gets digitized into pixel coordinates (u,v) Robert Collins CSE486, Penn State Imaging Geometry Camera Image (film) World Coordinates Coordinates CoordinatesW Y y X Z x V u U v Pixel Coordinates Robert Collins CSE486, Penn State Forward Projection World Camera Film Pixel Coords Coords Coords Coords U X x u V Y y v W Z We want a mathematical model to describe how 3D World points get projected into 2D Pixel coordinates. Our goal: describe this sequence of transformations by a big matrix equation! Robert Collins CSE486, Penn State Backward Projection World Camera Film Pixel Coords Coords Coords Coords U X x u V Y y v W Z Note, much of vision concerns trying to derive backward projection equations to recover 3D scene structure from images (via stereo or motion) But first, we have to understand forward projection… Robert Collins CSE486, Penn State Forward Projection World Camera Film Pixel Coords Coords Coords Coords U X x u V Y y v W Z 3D-to-2D Projection • perspective projection We will start here in the middle, since we’ve already talked about this when discussing stereo.
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												  Reflection Invariant and Symmetry Detection1 Reflection Invariant and Symmetry Detection Erbo Li and Hua Li Abstract—Symmetry detection and discrimination are of fundamental meaning in science, technology, and engineering. This paper introduces reflection invariants and defines the directional moments(DMs) to detect symmetry for shape analysis and object recognition. And it demonstrates that detection of reflection symmetry can be done in a simple way by solving a trigonometric system derived from the DMs, and discrimination of reflection symmetry can be achieved by application of the reflection invariants in 2D and 3D. Rotation symmetry can also be determined based on that. Also, if none of reflection invariants is equal to zero, then there is no symmetry. And the experiments in 2D and 3D show that all the reflection lines or planes can be deterministically found using DMs up to order six. This result can be used to simplify the efforts of symmetry detection in research areas,such as protein structure, model retrieval, reverse engineering, and machine vision etc. Index Terms—symmetry detection, shape analysis, object recognition, directional moment, moment invariant, isometry, congruent, reflection, chirality, rotation F 1 INTRODUCTION Kazhdan et al. [1] developed a continuous measure and dis- The essence of geometric symmetry is self-evident, which cussed the properties of the reflective symmetry descriptor, can be found everywhere in nature and social lives, as which was expanded to 3D by [2] and was augmented in shown in Figure 1. It is true that we are living in a spatial distribution of the objects asymmetry by [3] . For symmetric world. Pursuing the explanation of symmetry symmetry discrimination [4] defined a symmetry distance will provide better understanding to the surrounding world of shapes.
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												  Point Sets up to Rigid Transformations Are Determined by the Distribution of Their Pairwise DistancesPoint Sets Up to Rigid Transformations are Determined by the Distribution of their Pairwise Distances Daniel Chen December 6, 2008 Abstract This report is a summary of [BK06], which gives a simpler, albeit less general proof for the result of [BK04]. 1 Introduction [BK04] and [BK06] study the circumstances when sets of n-points in Euclidean space are determined up to rigid transformations by the distribution of unlabeled pairwise distances. In fact, they show the rather surprising result that any set of n-points in general position are determined up to rigid transformations by the distribution of unlabeled distances. 1.1 Practical Motivation The results of [BK04] and [BK06] are partly motivated by experimental results in [OFCD]. [OFCD] is an experimental study evaluating the use of shape distri- butions to classify 3D objects represented by point clouds. A shape distribution is a the distribution of a function on a randomly selected set of points from the point cloud. [OFCD] tested various such functions, including the angle be- tween three random points on the surface, the distance between the centroid and a random point, the distance between two random points, the square root of the area of the triangle between three random points, and the cube root of the volume of the tetrahedron between four random points. Then, the distri- butions are compared using dissimilarity measures, including χ2, Battacharyya, and Minkowski LN norms for both the pdf and cdf for N = 1; 2; 1. The experimental results showed that the shape distribution function that worked best for classification was the distance between two random points and the best dissimilarity measure was the pdf L1 norm.
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												  Symmetry and Beauty in the Living World I Thank the Governing Body and the Director of the G.BSYMMETRY AND BEAUTY IN THE LIVING WORLD I thank the Governing Body and the Director of the G.B. Pant Institute of Himalayan Environment & Development for providing me this opportunity to deliver the 17th Govind Ballabh Pant Memorial Lecture. Pt. Pant, as I have understood, was amongst those who contributed in multiple ways to shape and nurture the nation in general and the Himalayan area in particular. Established to honour this great ‘Son of the Mountains’, the Institute carries enormous responsibilities and expectations from millions of people across the region and outside. Undoubtedly the multidisciplinary skills and interdisciplinary approach of the Institute and the zeal of its members to work in remote areas and harsh Himalayan conditions will succeed in achieving the long term vision of Pt. Pant for the overall development of the region. My talk ‘Symmetry and Beauty in the Living World’ attempts to discuss aspects of symmetry and beauty in nature and their evolutionary explanations. I shall explain how these elements have helped developmental and evolutionary biologists to frame and answer research questions. INTRODUCTION Symmetry is an objective feature of the living world and also of some non-living entities. It forms an essential element of the laws of nature; it is often sought by human beings when they create artefacts. Beauty has to do with a subjective assessment of the extent to which something or someone has a pleasing appearance. It is something that people aspire to, whether in ideas, creations or people. Evolutionary biology tells us that it is useful to look for an evolutionary explanation of anything to do with life.
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												  Draft Framework for a Teaching Unit: TransformationsCo-funded by the European Union PRIMARY TEACHER EDUCATION (PrimTEd) PROJECT GEOMETRY AND MEASUREMENT WORKING GROUP DRAFT FRAMEWORK FOR A TEACHING UNIT Preamble The general aim of this teaching unit is to empower pre-service students by exposing them to geometry and measurement, and the relevant pe dagogical content that would allow them to become skilful and competent mathematics teachers. The depth and scope of the content often go beyond what is required by prescribed school curricula for the Intermediate Phase learners, but should allow pre- service teachers to be well equipped, and approach the teaching of Geometry and Measurement with confidence. Pre-service teachers should essentially be prepared for Intermediate Phase teaching according to the requirements set out in MRTEQ (Minimum Requirements for Teacher Education Qualifications, 2019). “MRTEQ provides a basis for the construction of core curricula Initial Teacher Education (ITE) as well as for Continuing Professional Development (CPD) Programmes that accredited institutions must use in order to develop programmes leading to teacher education qualifications.” [p6]. Competent learning… a mixture of Theoretical & Pure & Extrinsic & Potential & Competent learning represents the acquisition, integration & application of different types of knowledge. Each type implies the mastering of specific related skills Disciplinary Subject matter knowledge & specific specialized subject Pedagogical Knowledge of learners, learning, curriculum & general instructional & assessment strategies & specialized Learning in & from practice – the study of practice using Practical learning case studies, videos & lesson observations to theorize practice & form basis for learning in practice – authentic & simulated classroom environments, i.e. Work-integrated Fundamental Learning to converse in a second official language (LOTL), ability to use ICT & acquisition of academic literacies Knowledge of varied learning situations, contexts & Situational environments of education – classrooms, schools, communities, etc.
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												  Half-Turns and Line Symmetric MotionsView metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by LSBU Research Open Half-turns and Line Symmetric Motions J.M. Selig Faculty of Business, Computing and Info. Management, London South Bank University, London SE1 0AA, U.K. (e-mail: [email protected]) and M. Husty Institute of Basic Sciences in Engineering Unit Geometry and CAD, Leopold-Franzens-Universit¨at Innsbruck, Austria. (e-mail: [email protected]) Abstract A line symmetric motion is the motion obtained by reflecting a rigid body in the successive generator lines of a ruled surface. In this work we review the dual quaternion approach to rigid body displacements, in particular the representation of the group SE(3) by the Study quadric. Then some classical work on reflections in lines or half-turns is reviewed. Next two new characterisations of line symmetric motions are presented. These are used to study a number of examples one of which is a novel line symmetric motion given by a rational degree five curve in the Study quadric. The rest of the paper investigates the connection between sets of half-turns and linear subspaces of the Study quadric. Line symmetric motions produced by some degenerate ruled surfaces are shown to be restricted to certain 2-planes in the Study quadric. Reflections in the lines of a linear line complex lie in the intersection of a the Study-quadric with a 4-plane. 1 Introduction In this work we revisit the classical idea of half-turns using modern mathematical techniques. In particular we use the dual quaternion representation of rigid-body motions.
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												  Radial Symmetry Or Bilateral Symmetry Or "Spherical Symmetry"Symmetry in biology is the balanced distribution of duplicate body parts or shapes. The body plans of most multicellular organisms exhibit some form of symmetry, either radial symmetry or bilateral symmetry or "spherical symmetry". A small minority exhibit no symmetry (are asymmetric). In nature and biology, symmetry is approximate. For example, plant leaves, while considered symmetric, will rarely match up exactly when folded in half. Radial symmetry These organisms resemble a pie where several cutting planes produce roughly identical pieces. An organism with radial symmetry exhibits no left or right sides. They have a top and a bottom (dorsal and ventral surface) only. Animals Symmetry is important in the taxonomy of animals; animals with bilateral symmetry are classified in the taxon Bilateria, which is generally accepted to be a clade of the kingdom Animalia. Bilateral symmetry means capable of being split into two equal parts so that one part is a mirror image of the other. The line of symmetry lies dorso-ventrally and anterior-posteriorly. Most radially symmetric animals are symmetrical about an axis extending from the center of the oral surface, which contains the mouth, to the center of the opposite, or aboral, end. This type of symmetry is especially suitable for sessile animals such as the sea anemone, floating animals such as jellyfish, and slow moving organisms such as sea stars (see special forms of radial symmetry). Animals in the phyla cnidaria and echinodermata exhibit radial symmetry (although many sea anemones and some corals exhibit bilateral symmetry defined by a single structure, the siphonoglyph) (see Willmer, 1990).
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												  In Square Units)INVESTIGATIONS and EXPLORATIONS 1.1.1 – 1.1.5 By asking questions such as “What happens if…?” and “What if I change this…?” and answering them by trying different things, we can find out quite a lot of information about different shapes. In the first five sections of this first chapter, we explore symmetry, making predictions, perimeter, area, logical arguments, and angles by investigating each of them with interesting problems. These five sections are introductory and help the teacher determine students’ prior knowledge and preview some of the ideas that will be studied in this course. The following examples illustrate the geometry ideas in this section as well as some of the algebra review topics. See the Math Notes Boxes on pages 5, 10, 15, 19, and 24. Example 1 Suppose the rug in Figure 1 is enlarged as shown. one unit one square unit Figure 1 Figure 2 Figure 3 Fill in the table below to show how the perimeter and the area of the rug change as it is enlarged. Figure Number 1 2 3 4 5 20 Perimeter (in units) Area (in square units) The perimeter of a figure is the distance (length) around the outside of the figure while the area measures the surface within the figure. The area is measured in square units while the perimeter is simply a unit of length, such as inches or centimeters. Counting the units around the outside of Figure 1, we get a perimeter of 16 units. By counting the number of square units within Figure 1, we find the area is 12 square units.
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												  Rigid TransformationsMathematical Principles in Vision and Graphics: Rigid Transformations Ass.Prof. Friedrich Fraundorfer SS 2018 Learning goals . Understand the problems of dealing with rotations . Understand how to represent rotations . Understand the terms SO(3) etc. Understand the use of the tangent space . Understand Euler angles, Axis-Angle, and quaternions . Understand how to interpolate, filter and optimize rotations 2 Outline . Rigid transformations . Problems with rotation matrices . Properties of rotation matrices . Matrix groups SO(3), SE(3) . Manifolds . Tangent space . Skew-symmetric matrices . Exponential map . Euler angles, angle-axis, quaternions . Interpolation . Filtering . Optimization 3 Motivation: 3D Viewer Rigid transformations 푧 푝 푋퐶 푍 푋푤 푥 퐶 푦 푂 푊 푇 푅 푂 푌 푥 ∈ ℝ푛 푋 푋푐 = 푅푋푤 + 푇 T ∈ ℝ푛 . Coordinates are related by: 푋푐 푅 푇 푋푤 = 푛×푛 1 0 1 1 푅 ∈ ℝ . Rigid transformation belong to the matrix group SE(3) . What does this mean? 5 Properties of rotation matrices Rotation matrix: 푧 푍 3×3 푅 = 푟1, 푟2, 푟3 ∈ ℝ 푟3 푦 푟2 푇 푅 푅 = 퐼, det 푅 = +1 푂 푌 푟1 푋 푥 Coordinates are related by: 푋푐 = 푅푋푤 . Rotation matrices belong to the matrix group SO(3) . What does this mean? 6 Problems with rotation matrices . Optimization of rotations (bundle adjustment) 푓(푥푛) ▫ Newton’s method 푥푛+1 = 푥푛 − 푓′(푥푛) . Linear interpolation . Filtering and averaging ▫ E.g. averaging rotation from IMU or camera pose tracker for AR/VR glasses 7 Matrix groups . The set of all the nxn invertible matrices is a group w.r.t. the matrix multiplication: 퐺퐿(푛) = 푀 ∈ ℝ푛×푛|det(푀) ≠ 0 ,× General linear group .
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												  Geometry TopicsGEOMETRY TOPICS Transformations Rotation Turn! Reflection Flip! Translation Slide! After any of these transformations (turn, flip or slide), the shape still has the same size so the shapes are congruent. Rotations Rotation means turning around a center. The distance from the center to any point on the shape stays the same. The rotation has the same size as the original shape. Here a triangle is rotated around the point marked with a "+" Translations In Geometry, "Translation" simply means Moving. The translation has the same size of the original shape. To Translate a shape: Every point of the shape must move: the same distance in the same direction. Reflections A reflection is a flip over a line. In a Reflection every point is the same distance from a central line. The reflection has the same size as the original image. The central line is called the Mirror Line ... Mirror Lines can be in any direction. Reflection Symmetry Reflection Symmetry (sometimes called Line Symmetry or Mirror Symmetry) is easy to see, because one half is the reflection of the other half. Here my dog "Flame" has her face made perfectly symmetrical with a bit of photo magic. The white line down the center is the Line of Symmetry (also called the "Mirror Line") The reflection in this lake also has symmetry, but in this case: -The Line of Symmetry runs left-to-right (horizontally) -It is not perfect symmetry, because of the lake surface. Line of Symmetry The Line of Symmetry (also called the Mirror Line) can be in any direction. But there are four common directions, and they are named for the line they make on the standard XY graph.
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												  Unit 5 Transformations in the Coordinate PlaneCoordinate Algebra: Unit 5 Transformations in the Coordinate Plane Learning Targets: I can… Important Understandings and Concepts • Define angles, circles, perpendicular lines, parallel lines, rays, and line segments precisely using the undefined terms and “if- then” and “if-and-only-if” statements. • Draw transformations of reflections, rotations, translations, and combinations of these using graph paper, transparencies, and /or geometry software. Transformational geometry is about the effects of rigid motions, rotations, • Determine the coordinates for the image (output) of a figure reflections and translations on figures. A reflection is a flip over a line. when a transformation rule is applied to the preimage (input). Reflections have the same shape and size as the original image. • Calculate the number of lines of reflection symmetry and the degree of rotational symmetry of any regular polygon. • Draw a specific transformation when given a geometric figure and a rotation, reflection, or translation. • Predict and verify the sequence of transformations (a composition) that will map a figure onto another. Vocabulary angle – is the figure formed by two rays, called the sides of the angle, sharing a common endpoint. A translation or “slide” is moving a shape, without rotating or flipping it. rigid transformation: is one in which the pre-image and the image The shape still looks exactly the same, just in a different place. both have the exact same size and shape (congruent). transformation: The mapping, or movement, of all the points of a figure in a plane according to a common operation. reflection: A transformation that "flips" a figure over a line of reflection.