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6.801/6.866: Machine Vision, Lecture 17 Professor Berthold Horn, Ryan Sander, Tadayuki Yoshitake MIT Department of Electrical Engineering and Computer Science Fall 2020 These lecture summaries are designed to be a review of the lecture. Though I do my best to include all main topics from the lecture, the lectures will have more elaborated explanations than these notes. 1 Lecture 17: Photogrammetry, Orientation, Axes of Inertia, Symmetry, Absolute, Relative, Interior, and Exterior Orientation This lecture marks a transition in what we have covered so far in the course from lower-level machine vision to higher-level problems, beginning with photogrammetry. Photogrammetry: “Measurements from Imagery”, for example, map-making. 1.1 Photogrammetry Problems: An Overview Four important problems in photogrammetry that we will cover are: • Absolute Orientation 3D ←→ 3D • Relative Orientation 2D ←→ 2D • Exterior Orientation 2D ←→ 3D • Intrinsic Orientation 3D ←→ 2D Below we discuss each of these problems at a high level. We will be discussing these problems in greater depth later in this and following lectures. 1.1.1 Absolute Orientation We will start with covering absolute orientation. This problem asks about the relationship between two or more objects (cameras, points, other sensors) in 3D. Some examples of this problem include: 1. Given two 3D sensors, such as lidar (light detection and ranging) sensors, our goal is to find the transformation, or ...
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