图像处理_CMU SRI Motion Image Dataset(CMU SRI运动图像数据集)

CMU SRI Motion Image Dataset(CMU SRI运动图像

数据集)

数据摘要：

Taken with the Sony camera (borrowed from Stan Reifel) with the 12.5mm lens and the IR filter from the Fairchild head (which Bill took out for other reasons). The Sony camera has several advantages over the GE and the Fairchild.

中文关键词：

图像,索尼相机,通用电气,灵敏度,镜头,

英文关键词：

image,Sony camera,GE,sensitivity,lens,

数据格式：

IMAGE

数据用途：

图像处理，摄影技术

数据详细介绍：

SRI Motion Image Dataset

Taken with the Sony camera (borrowed from Stan Reifel) with the 12.5mm lens and the IR filter from the Fairchild head (which Bill took out for other reasons). The Sony camera has several advantages over the GE and the Fairchild. It is inexpensive ($1000.). It appears to have none of the patterning I've seen in both the others (4 row and 4 column-type of "mesh" over the image). It has much better sensitivity than the Fairchild (I could barely see anything with the same lens and filter on the Fairchild.) It appears to have good blooming characteristics. The sunlight and flourescents don't cause it to bloom like the Fairchild.

I took CAL0.IMG and CAL20.IMG via USR:[BOLLES]CALCAM.ICP, which takes one picture, moves the table 20" back from the target, and takes the second one.

Using the formula of March 28 (page 3) I computed the following pixel sizes:

1 horizontal pixel = .001170018"

1 vertical pixel = .001089928"

which would make the 256x240 (sampled down from 512x480) image plane to be

.2995"(h) x .2616"(v). The specs say that the sensitive area on the chip

is 8.8mm x 6.6mm or .3477" x .2596". I don't understand the difference

in the horizontal sizes.

Using this formula the two image plane distances corresponding to 30" on

the target were .1602925" and .1689388", which I believe should be the same, if the optics is symmetric, which it is. I don't know why there is

such a difference. (Maybe poor pointing accuracy of the cursor on the images ... only to the closest pixel.)

I then used the 90" tape measured distance from the lens center to the

target to get another estimate of the image plane distances. For a 30" target, the image plane distance should be 1/3 of F, which is .492126,

which is .164042". Since that is a compromise between the two estimates from the first method I decided to use it and recompute the pixel sizes.

The new sizes are:

1 horizontal pixel = .001197387"

1 vertical pixel = .001058336"

However, this still does not account for the larger horizontal chip dimension. In pixels, 30" corresponds to 175 horizontal pixels and 201 vertical. If the aspect ratio is 4:3 so that 512 horiz pixels covers

4 and 512 vert pixels covers 3, then one would think that the ratio

would be more like 150 H pixels and 200 V pixels for 30".

These pixel sizes imply a field of view of 34.6 degrees H by 28.9 degrees V. Notice that the images were actually taken by shifting the table RIGHT.

To correct for this their names will be redone sometime so that they

really go right to left, which will confuse people if the clock can

be read ... It'll go backwards, Oh, well. See the ICP macro file SEQUENCE.ICP which was used to take the sequence ... it contains the cropping and resampling instructions ... basically 512x480 out of 512x512 and then sampled down to 256x240.

The camera, instead of being horizontal, was tilted down slightly. We measured the tilt to be 7/32" over 2 & 5/8" which corresponds to an angle

of 4.763642 degrees. At .001058336"/pixel this is an image plane distance of .0410105" or 38.75 pixels (out of 240 V pixels). Thus, the focus

of expansion for AHTABLE pictures would be at (128,158) (starting with (0,0) vs (1,1)). To check this I took a horizontal picture (HORIZNTL.IMG) and marked the piercing point (256,240) in it and located that point

in AHTAB125.IMG. It was at (128,160), which agrees quite well with the number mentioned above. I then computed the angle that would place the focus of expansion at (128,160), which is 4.916568 degrees. I'll use

that as the pitch angle.

Horizontal distances (vs. distances along the axis of the camera, which

is pointing down slightly) to some of the objects in the scene are:

21.0 -- closest leg of the ladder

21.5 -- the tip of the leaf at the top of the last image

27.5 -- closest leaf at the bottom of the last image

39.0 -- far leg of the ladder

40.5 -- closest (upper left) corner of the shirt

64.5 -- post near the middle of the picture

68.0 -- lower left corner of the tilted wood backing for a light

68.5 -- string holding the lead weight

72.5 -- closest corner of the small box on the table

72.5 -- label on the motor

75.5 -- top right corner of tilted wood backing board

79.0 -- closest side of the small conveyorbelt

80.0 -- diagonal brace for the post (from top center to the left)

91.5 -- top of the small vertical leaf of vertical plant on left

95.5 -- pot holding that plant

119.5 - the group of wires dropping down to the back of the terminals

122.5 - upper right, closest corner of the keyboard

100.0 - upper left corner on the back of the terminal

148.5 - front of pot at the far end of the terminal table

208.0 - front leg of the chair on the left

224.5 - the back of the chair on the left

277.0 - rightmost left of the cart, in the distance

285.5 - leftmost pt on the black shade of the standing photo light

295.5 - left visible left of the cart

318.5 - left front side of the black cabinet on the right

368.5 - far side of the tall cabinets on the left

472.5 - front of the shelfs against the back wall

491.5 - the clock

These distances were measured with a tape measure ... originally from

the vise holding the camera and then subtracting 3.5" to the lens center.

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