Nptel Online Certification Course

Indian Institute of Technology Kharagpur

Computer Vision
Assignment - Week 4
Number of questions: 10 Total marks: 10x2=20

FOR QUESTIONS 1, 2 AND 3:

1 1 2
 
Consider a stereo imaging set up camera with left calibration matrix 𝐾 = 0 2 0 and a
 
0 0 1
 
1 5 3 1 0 0
  
𝐾′
right calibration matrix = 0 1 2 . The right camera has 𝑅 = 0 0
  1
0 0 2 0 1 0
  
Based on the given parameters, solve the following question 1, 2 and 3:
QUESTION 1: Type: Comprehensive
Compute the homography matrix H.
1 1 3
 
a) 0 1 1
0 1 0
 
2 −1 −1
 
b) 0 1 1 
1 3 1 
 
3 3 −1
 
c) 1 0 0 
1 3 1 
 
2 4 2
 
d) 0 1 1
0 3 1
 
Correct Answer: a)
Detailed Solution:
Homography is given by 𝐻 = 𝐾 ′ 𝑅𝐾 −1 .

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QUESTION 2: Type: Comprehensive
′
For a given epipole 𝑒 (1, 0) in the right image, and a point 𝑥(3, 5) in the left image, determine
the epipolar line 𝑙 ′ in the right image along which the corresponding point 𝑥 must lie.

a) (−6, 6, −7/3)

b) (6, 6, −6)

c) (−6, 6, 6)

d) (3, 6, −3)

Correct Answer: c)
Detailed Solution:
Epipolar line 𝑙 ′ = 𝑒′ × 𝐻𝑥, 𝑒′ and 𝑥 are expressed in homogeneous coordinate system.

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QUESTION 3: Type: Comprehensive
For the given stereo imaging set up, find the fundamental matrix F.
0 −1 −1
 
a) 1 2 0 
0 1 1 
 
 0 0 −2
 
b)  2 −2 6 
−2 2 −2
 
0 1 −1
 
c) 1 2 0 
0 1 1 
 
0 −1 −1
 
d) 3 1 0 
0 1 1 
 
Correct Answer: : b)
Detailed Solution: Fundamental matrix is given by 𝐹 = [𝑒′] 𝑋 𝐻, where Homography is given
by 𝐻 = 𝐾 ′ 𝑅𝐾 −1 .

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FOR QUESTIONS 4 AND 5:
−1 1 2
 
Given fundamental matrix 𝐹 =  1 1 0 . Based on the given data solve the following
 0 1 1
 
questions 4 and 5:
QUESTION 4: Type: Comprehensive
Given a point 𝑝 1 = (3, 5) in the left image. Compute the epipolar line.

a) (−1, 4, 6)

b) (4, 8, 6)

c) (1, 6, 4)

d) (8, 4, 1)

Correct Answer: b)
Detailed Solution:
Epipolar line is given by 𝑙1′ = 𝐹 𝑝 1 .

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QUESTION 5: Type: Comprehensive
Given another point 𝑝 2 = (3, 2) in the left image, find the right epipole 𝑒′.

a) (−6, −6, 12)

b) (6, −21, 15)

c) (6, −6, 21)

d) (6, −6, 12)

Correct Answer: a)
Detailed Solution:
Right epipole is given by 𝑒′ = 𝑙1′ × 𝑙2′ , where 𝑙2′ = 𝐹 𝑝 2

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QUESTION 6: Type: MCQ
1 0 0
 
Given the right camera as 𝑅 = 0 0 1 and translation vector 𝑡 as (0, 1, 1), compute the
0 1 0
 
Essential matrix 𝐸.
0 0 −1
 
a) 1 0 1 
0 −1 1 
 
0 0 −1
 
b) 1 0 −1
0 −1 1 
 
 1 0 −1
 
c)  1 1 0 
−1 1 1 
 
 0 1 −1
 
d)  1 0 0 
−1 0 0 
 
Correct Answer: d)
Detailed Solution:
Essential matrix is given by 𝐸 = [𝑡 ′] 𝑋 𝑅.

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QUESTION 7: Type: Numeric
3 0 0 0
 
Consider a stereo imaging set up with two cameras 𝑃 = 0 3 0 0 (left camera) and 𝑃′ =
0 0 1 0
 
3 0 0 7
 
0 3 0 0 (right camera). If the image coordinates of a 3-D point are (19, 3) and (9, 3) in
 
0 0 1 0
 
left and right cameras, compute its depth (z-coordinate) in the 3D.
Correct Answer: 0.7
Detailed Solution:
3× 73
The depth is given by 𝑍 = 𝑥𝐾𝑡
′ −𝑥 = 19−9 .

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FOR QUESTIONS 8 AND 9:
2 0 5 1
 
Consider a stereo imaging set up with two cameras 𝑃 = 0 1 0 1 (left camera) and 𝑃′ =
3 2 1 0
 
1 2 1 1
 
2 0 0 2 (right camera).
 
0 0 2 1
 
Based on the given parameters, solve the following question 8 and 9:
QUESTION 8: Type: Comprehensive
Find the fundamental matrix 𝐹 and camera centre. Answer till two decimal places.
 22 28 −14
1
  1
a) 13
4
 3 −4  , 13 (11, −1, −7)
−6 −60 −18
 
 22 28 −14
1
  1
b) 13
4
 4 −3 ,
 13 (11, 1, −7)
−6 −60 −18
 
 22 28 −14
1
  1
c) 13
4
 4 −3 ,
 13 (11, −1, 7)
−6 −60 −18
 
 22 28 −14
1
  1
d) 13
4
 4 −3  , 13 (11, −1, −7)
−6 −59 −18
 
Correct Answer: c)
Detailed Solution:
Compute the camera centre first as 𝐶 = −𝑀 −1 𝑝 4 , where 𝑀 is the left 3 × 3 matrix of the left
camera projection matrix 𝑃 and 𝑝 4 is the last column of 𝑃.
Fundamental matrix 𝐹 = [𝑒′] 𝑋 𝑀 ′ 𝑀 −1 , where 𝑒′ is the right epipole.

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QUESTION 9: Type: Comprehensive
Find the right epipole 𝑒′. Answer till two decimal places.

a) (0.5, 3.69, 0.07)

b) (−0.5, 0.5, 0.07)

c) (0.69, −3.69, −0.07)

d) (−0.69, 3.69, −0.07)

Correct Answer: : d)
Detailed Solution: The right epipole is calculated as 𝑒′ = 𝑃′𝐶.

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QUESTION 10: Type: MCQ
Assume that a stereo imaging setup has two image planes, left and right. Which of the
following could be a possible left null vector (or right epipole for the corresponding stereo
 20 12 0 

imaging setup) of the given fundamental matrix 𝐹 =  8 −7 59 
−4 33 −177
 
a) (1, −3, 1)

b) (−1, 3, 1)

c) (−1, 3, −1)

d) (1, 3, 1)

Correct Answer: : b)
Detailed Solution: Check for 𝑒′𝑇 𝐹 = 0, where 𝑒′ is the right epipole or left null vector of 𝐹.

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