The document discusses camera models and inverse perspective transforms. It describes how an inverse perspective transformation maps an image back to 2D by assigning any 3D point a Z value of 0. It also explains that an image point (xo,yo) corresponds to a set of collinear 3D points on the line passing through (xi,yi,0) and (0,0,∞). Additionally, it outlines a camera model where the world and camera coordinates are separate, with the camera mounted on a gimbal allowing pan and tilt, and defines offsets from the world and gimbal centers.

1. Camera Model

2. Inverse perspective transform
 Inverse perspective transformation
transforms image back to 2D.

3. Inverse Perspective
transformation

4. Cont…………

5. Cont………….
 The result obviously unexpected that because it
gives Z=0 for any 3d point.
 The image point xo,yo corresponds to the set of
collinear 3d points that lie on the line passing
through (xi,yi,0) and (0,0, ).



8. Camera Model
 In camera Model , the problem is defined as the
world and camera coordinates are separate.
 The camera is mounted on a gimbal which allows
pan through an angle theta between x and X axes
and tilt between Z and z axis.
 The offset of the center of the gimbal from the
world coordinates is denoted by wo, and the
offset of the center of imaging plane with respect
to gimbal center is denoted by vector r with
components (r1, r2, r3).

9. Camera Model

15. Rotation matrix R

 R
R
R 

19. Stereo imaging