Nptel Online Certification Course

Indian Institute of Technology Kharagpur

Computer Vision
Assignment - Week 2
Number of questions: 10 Total marks: 10x2=20

QUESTION 1: Type: MCQ

Consider two points in projective space 𝑝1(9, 27, 3) and 𝑝2(28, 49, 7).
Find the line passing through the points 𝑝1 and 𝑝2 in 2D-space.

a) 2𝑥 − 𝑦 − 15 = 0

b) 2𝑥 − 𝑦 + 15 = 0

c) 2𝑥 + 𝑦 − 15 = 0

d) 2𝑥 + 𝑦 + 15 = 0

Correct Answer: c)
Detailed Solution: It is natural to consider the set of vectors (𝑘𝑥, 𝑘 𝑦, 𝑘)𝑇 for varying values
of 𝑘 to be a representation of the point (𝑥, 𝑦)𝑇 in 𝑅 2 after projecting onto 𝑃2 .
In 𝑅 2 , 𝑝1 = (3, 9) and 𝑝2 = (4, 7). Line passing through 𝑝1 and 𝑝2, is given by - 𝑝1 × 𝑝2.

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FOR QUESTIONS 2, 3 AND 4:
1 1 −2
 
Given a homography 𝐻 = 2 0 1  . Based on the given data solve the following questions
0 1 −1
 
2 and 3:
QUESTION 2: Type: Comprehensive
Compute the transformed point of intersection of the straight lines-4𝑥 + 4𝑦 + 5 = 0 and
𝑥 + 2𝑦 − 2 = 0 in 𝑅 2 .

a) 𝑝(−7, −8, 2)

b) 𝑝(28, −8, 8)

c) 𝑝(−7, −32, 2)

d) 𝑝(−7, 8, 8)

Correct Answer: a)
Detailed Solution:
The point of intersection of 𝑙1 and 𝑙2 is given by 𝑥 = 𝑙1 × 𝑙2 .
The transformed point is 𝑥 ′ = 𝐻𝑥.

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QUESTION 3: Type: Comprehensive
The transformed point is given as 𝑝(4, 3, 1). Find the point before transformation.

a) 𝑝(6, 0, 1)

b) 𝑝(2, 1.5, 2)

c) 𝑝(2, 0, 1)

d) 𝑝(2, 0, −1)

Correct Answer: d)
Detailed Solution:
The point before transformation, 𝑥 = 𝐻 −1 𝑥 ′.

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QUESTION 4: Type: Comprehensive
Find the vanishing line.

a) (−2, 1, 2)

b) ( −2 1 2
3 , 3, 3)

c) (2, 13 , 2)

d) ( −2 1 2
3 , 3, 3)

Correct Answer: b)
Detailed Solution:
The vanishing line is computed as: 𝑙 𝑣 = 𝐻 −𝑇 𝑙∞
0 
 
𝑙 ∞ = 0
1 
 

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QUESTION 5: Type: MCQ
1 1 0
 
Given a line defined as 𝑙1 = (−3, 4, 2), and homography 𝐻 = 0 1 1 What will be the
0 1 0
 
vanishing point for lines parallel to 𝑙1 .

7
3
a)  1 
1
 
7
 
b) 3
1
 
6
 
c) 7
1
 
7
 
d) 6
1
 
Correct Answer: a)
Detailed Solution: In projective space, any line parallel to 𝑙 = (𝑎, 𝑏, 𝑐)𝑇 , meets at vanishing
point. So the vanishing point corresponding to lines parallel to 𝑙 1 = (−3, 4, 2)𝑇 is:
4
 
𝑣 ∞ = 3
0
 
Finally, the vanishing point 𝑣 ′ = 𝐻𝑣 ∞

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QUESTION 6: Type: MCQ
Select correct option(s) which are true for a affine projection matrix represented by a 3 × 4
matrix 𝑃 𝐴 . (MSQ)

a) It has 11 independent parameters.

b) The last row can always be written in the form of (0, 0, 0, 1).

c) The camera center lies at the plane at infinity of the world coordinate system in 𝑃3 .

d) A camera with a short focal length may be treated as an approximation to an affine camera..

Answer: b, c
Explanation: It has 8 independent parameters as the last row can always be represented in the
form (0, 0, 0, 1). The camera center is a point at infinity or a direction, which determines the
direction of parallel rays for projection. As camera center is at infinity, a camera with long
focal length approximately behaves as an affine camera.

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QUESTION 7: Type: MCQ
1 1 0
  ∗
Given a homography 𝐻 = 0 1 1 Compute the transformation of dual conic 𝐶∞
0 1 0
 
(𝐼.𝐽 + 𝐽.𝐼 ) under 𝐻.
𝑇 𝑇

1 1 2
 
a) 1 1 0
1 0 1
 
2 1 1
 
b) 1 1 1
1 1 1
 
2 1 1
 
c) 1 1 0
1 2 1
 
2 1 1
 
d) 1 2 0
1 1 1
 
Correct Answer: b)
Detailed Solution:
1 0 0
∗ 𝐻𝑇 , ∗
 
Dual Conic transformed under 𝐻 can be written as 𝐻𝐶∞ where 𝐶∞ = 0 1 0 .
0 0 0
 

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QUESTION 8: Type: MSQ
Which of the following statements are true for a vanishing point in the image plane of an
optical camera based imaging system?

a) The point is invariant to translation of the camera.

b) The point is invariant to rotation of the camera.

c) The point is invariant to zooming in of the camera.

d) The point is invariant to zooming out of the camera

Answer: a
A vanishing point is an image of a point at infinity and can be represented as (𝑎, 𝑏, 𝑐, 0),
where 𝑑® = (𝑎, 𝑏, 𝑐)𝑇 denotes direction of a ray. Given a camera matrix in the form of 𝑀 | 𝑝 4 ,
the vanishing point is given by 𝑀.𝑑, and hence invariant to translation as any change in 𝑝 4
will not affect it. For other transformations, 𝑀 gets modified and hence the vanishing point
also changes.

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QUESTION 9: Type: MSQ
Recollect Direct Linear Transform (DLT) algorithm for non-homogeneous equation 𝐴ℎ = 0.
The matrix A is formed from the following equations relating a point 𝑋𝑖 and its transformed
′
point 𝑋𝑖 in 2D projective spaces.
′ 𝑇 𝑦′𝑖 𝑋𝑖𝑇  ℎ1
 ′ 𝑇 −𝑤 𝑖𝑇𝑋𝑖
 0𝑇
0 −𝑥𝑖′ 𝑋𝑖𝑇  ­ ℎ2 ® = 0
𝑤 𝑋 © ª
 𝑖′ 𝑖 𝑇
−𝑦 𝑋
 𝑖 𝑖 𝑥𝑖′ 𝑋𝑖𝑇 0𝑇  « ℎ3 ¬
where 𝑋𝑖′ = (𝑥𝑖′, 𝑦′𝑖 , 𝑤′𝑖 )𝑇 and 𝑋𝑖 = (𝑥𝑖 , 𝑦𝑖 , 𝑤𝑖 )𝑇 , 𝑖 = 1, 2, · · · 𝑛. Choose the correct options.

a) Dimension of A= 2𝑛 × 9
Dimension of h: 9 × 1
Rank: 9

b) Dimension of A= 2𝑛 × 8
Dimension of h: 8 × 1
Rank: 8

c) If the origin of the plane lies on the vanishing line, unique solution exists.

d) If the origin of the plane lies on the vanishing line, no solution exists.

Correct Answer: b), d)

Detailed Solution: We can solve for H by setting ℎ33 = 1 as no solution can be obtained with
ℎ33 = 0 (no multiplication scale exists, It happens if the origin of the plane lies on the
vanishing line.). Therefore, we will use first two rows of the matrix A and re-frame the
problem as minimization problem.

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QUESTION 10: Type: Numeric
Given two lines 𝑙 (2, 1, 3) and 𝑚(1, 0, −2) meet at a point 𝑝. Find the Euclidean angle
between these two lines. Answer should be in nearest degrees. Discard the decimal values.
Correct Answer: 27
Detailed Solution:
1 0 0
∗𝑚
𝑙 𝑇 𝐶∞  
The Euclidean angle is given by 𝑐𝑜𝑠𝜃 = √ 𝑇 ∗ , where 𝐶 ∗ = 0 1 0 .
∗ 𝑚) ∞
(𝑙 𝐶∞ 𝑙) (𝑚 𝑇 𝐶∞  
0 0 0
 

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