ECE 564 Computer Vision Assignment 7

Submit HTML documentation on Isidore.

  1. Use images 4 – 6, showing the target board on floor, right-wall, and left-wall. Find the extrinsics for these images. For each image calculate the location of the camera from the two walls and floor. Compare the results.

  2. Given a triangle represented by three principal vanishing points, write a MATLAB code to determine the orthocenter and distances d1 and d2 for each vertex. Check that the focal length formula gives the same result for each case.

  3. Write a MATLAB function to determine the Euler line of a triangle. Demonstrate that the three centers do in fact lie on the Euler line (see references)

  4. Using images 4 – 12, find the three principal horizon lines and construct an “ortho triangle” to determine the orthocenter (principal point) and focal length of the camera. Compare to the MATLAB camera calibration you performed in an earlier assignment.

    Construct a diagram similar to the example below.

  5. Using images 20 &ndash 23, generate a tform for image 20. Use that tform and imwarp to generate views for all four images. Use MATLAB or manual effort to overlay the resulting images. For example, you may make hard-copy prints of the transformed views, cut out appropriate parts and overlay the images to show an overview of that part of the hallway.

  6. Construct a map of that portion of the hallway. Determine the distance between the left-wall (seen in images 20 and 21) and the right-wall (seen in image 23)


Orthocenter of a triangle (Wikipedia)
Orthocenter (with animation) (Math Open Reference)
Euler line (Wikipedia)
Euler line (Math Open Reference)

Maintained by John Loomis, last updated 21 March 2019