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This chapter describes three basic components of a computer vision system. The geometry and photometry of the used cameras needs to be understood (to some degree). For modelling the projective mapping of the 3D world into images, and for the steps involved in camera calibration, we have to deal with several coordinate systems. By calibration we map recorded images into normalized (e.g. geometrically rectified) representations, thus simplifying subsequent vision procedures.
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The subscript “s” comes from “sensor”; the camera is a particular sensor for measuring data in the 3D world. A laser range-finder or radar are other examples of sensors.
For readers who prefer to define a wide angle accurately: let it be any angle greater than this particular α=104.25 ∘, with 360 ∘ as an upper bound.
Catadioptric: pertaining to, or involving both the reflection and the refraction of light; dioptric: relating to the refraction of light.
- Cameras, Coordinates, and Calibration
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