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What calibration object is used in Zhang’s method?
One planar grid
For a calibrated camera, what is the minimum number of points required by the PnP algorithm to obtain one unique solution?
4
Which statement is correct? ⊆ means "is a particular case of"?
VO ⊆ SLAM ⊆ SfM
Which of the following feature detectors is scale invariant?
SIFT
In which of the following cases can you recover the metric scale?
Stereo
For the same set of inputs, RANSAC always provides the same result.
False
(2 P.) How many solutions will the PnP algorithm give if you have one, two, three, and four 3D-2D correspondences?
1: infinite
2: infinite, but bounded
3: up to 4
4: one solution
Mark the correct output c of the convolution between the 1D image a and the 1D filter b using zero padding. The output should have the same size as the input image.
b = [2, 1, 2]
a = [3, 1, 2]
c = a * b
c = [5,11,4]
What is the minimum number of correspondences required for general (i.e. unconstrained) structure from motion with a calibrated camera?
5
What would be the closest depth measured by a stereo camera with baseline b and focal length f and resolution of W × H (W = width and H = height)? Assume a simplified and rectified stereo setup in 2D, i.e., both cameras have identical intrinsic parameters and both image planes are coplanar and aligned with the baseline.
bf/W
(3 P.) Define the PnP problem for a calibrated camera by stating the known and unknown entities.
PNP problem: problem of determining the 6DoF pose of a camera (position and orientation) with respect to the world frame from a set of 3D-2D point correspondences.
unknown: R, T
What is the minimum number of 2D point correspondences necessary to determine the 2D transformation between two images of the same planar object?
5
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