课程名称︰三维电脑视觉与深度学习应用 课程性质︰资工所选修 课程教师︰陈祝嵩 开课学院：电机资讯学院 开课系所︰资工所 考试日期（年月日）︰2021/04/22 考试时限（分钟）：160分钟 试题 : 凭印象，不一定是原卷用字遣词 可带双面A4大抄 1. (a) Write and explain the components of a camera intrinsic matrix. (b) What is nonlinear distortion? Write one example and explain. 2. Prove that the homography H_R describing a camera with only pure rotation (rotation matrix R) and known intrinsic matrix K is H_R = KRK^-1 3. Write and explain the minimal 2D-3D correspondences required for solving the following problem: (a) PnP problem using DLT method with unknown intrinsics. (b) PnP problem using EPnP method with known intrinsics. 4. Suppose we have a 2-camera system which is rectified. Write down the essential matrix describing the system. Introduce your own terms if necessary. 5. Explain the process of retrieving the visual word from an image (using Bag of Words for example). 6. Suppose using RANSAC on a line fitting problem with a set of 100 points, in which 20 are outliers. Calculate the number of draws if we want a 99% chance of getting a pure-inlier sample. (log 2 = 0.3010, log 3 = 0.4771) 7. Suppose there are 2 cameras looking at a common world point P. The rays from P to the camera origin C1 and C2 passes through both image planes at the center, which is (0, 0), i.e. the rays C1P and C2P coincides with the principal axes of 2 cameras respectively. Prove that in this case, the fundamental matrix F describing the system has term F_33 = 0. --

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