Mapping the 3D World to an Image - 5 Minutes with Cyrill

Mapping 3D points to 2D pixel locations explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2021

Credits:
Video by Cyrill Stachniss
Special thanks to Olga Vysotska and Igor Bogoslavskyi
Intro music by The Brothers Records

[willw]

Remarkable how a complicated process can be covered so clearly and concisely in just 5 minutes!!

[willw]

0:51 1:16 4 coordinate systems 1:56 camera location 3:48 formula interpretation 4:06 not invertible b/c info loss from 3D to 2D (given a 3D point, we can use the calculated P to get the corresponding 2D point, but given a 2D point, we cannot use P to get the corresponding 3D point b/c loss of info) 4:44 can partially invert with a 1D solution space 4:51 5:07 5:13

[ashleshagill]

Your videos have been the best tool to clear my computer vision concepts. Thank you so much :) !!

[goldenshale]

Thanks! I really appreciate your lectures.

[atrowell]

Excellent. I feel much more comfortable with the concept, and have the correct terminology for further study.

[imadelbouazzaoui]

Fast and informative. Thank you so much

[ericbighead]

I have a question, maybe you can give me a hint how I have to continue. I use a camera and can detect my aruco marker. The camera is calibrated and I have the camera matrix (intrinsics), distortion coefficients and the rotation & translation vector (extrinsic). And by the aruco functions I can detect the center of my aruco marker in the given image. But HOW can I caluclate the x, y coordinates of the marker in real world coordinates by the given parameters??? I dont get it :D I want to now when I make pic1, than move the marker, do pic2, I want to know how many mm in the real world the aruco marker moved in the x-y layer. And the distance to the object is not constant. But I do not want to know the distance. I just want to get accurate x, y coordinates. Thanks for your great video collection by the way!

[marzanalam]

Thank you so much for this amazing content.Would you like to make a video about visual odometry using single camera?

[yousofebneddin]

Thank you. Could you talk about what are the common feature extractors and descriptors for 3D point cloud (with and without RGB)?

[roy]

Please make a video on Feedback Particle filter