Cameras, lenses and sensors

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1 Cameras, lenses and sensors Marc Pollefeys COMP 256

2 Cameras, lenses and sensors Camera Models Pinhole Perspective Projection Affine Projection Camera with Lenses Sensing The Human Eye Reading: Chapter.

3 Images are two-dimensional patterns of brightness values. Figure from US Navy Manual of Basic Optics and Optical Instruments, prepared by Bureau of Naval Personnel. Reprinted by Dover Publications, Inc., 969. They are formed by the projection of 3D objects.

4 Animal eye: a looonnng time ago. Photographic camera: Niepce, 86. Pinhole perspective projection: Brunelleschi, XV th Century. Camera obscura: XVI th Century.

5 Distant objects appear smaller

6 Parallel lines meet vanishing point

7 Vanishing points H VPL VPR VP VP 2 To different directions correspond different vanishing points VP 3

8 Geometric properties of projection Points go to points Lines go to lines Planes go to whole image or half-plane Polygons go to polygons Degenerate cases: line through focal point yields point plane through focal point yields line

9 Pinhole Perspective Equation x' y' f f x ' z y ' z

10 Affine projection models: Weak perspective projection x' mx y' my where m f z 0 ' is the magnification. When the scene relief is small compared its distance from the Camera, m can be taken constant: weak perspective projection.

11 Affine projection models: Orthographic projection x' y' x y When the camera is at a (roughly constant) distance from the scene, take m.

12 Planar pinhole perspective Orthographic projection Spherical pinhole perspective

13 Limits for pinhole cameras

14 Camera obscura + lens

15 Lenses Snell s law n sin α n 2 sin α 2 Descartes law

16 Paraxial (or first-order) optics Snell s law: n sin α n 2 sin α 2 Small angles: n α n 2 α 2 R n n d n d n R γ β α h d h R β γ α d h h R R d h h n h d h n

17 Thin Lenses ) 2( and ' n R f f z z R n n * + R n n + ' * R n n * ' R n R n spherical lens surfaces; incoming light ± parallel to axis; thickness << radii; same refractive index on both sides ' * R n n R n n d n d n

18 Thin Lenses x' y' z' z' x z y z where z' z f and f R 2( n )

19 Thick Lens

20 The depth-of-field

21 The depth-of-field f o i + + Δ i i i f f i i o yields d b i i i Δ + Δ i i b d b Δ f b d f f o o o / ) ( 0 o o + Δ Similar formula for o o o Δ + + ) ( / b d d i i f f o o i ) ( 0 o b d f b d f o +

22 The depth-of-field f b d f f + Δ / ) ( decreases with d, increases with 0 strike a balance between incoming light and sharp depth range

23 Deviations from the lens model 3 assumptions :. all rays from a point are focused onto image point 2. all image points in a single plane 3. magnification is constant deviations from this ideal are aberrations

24 Aberrations 2 types :. geometrical 2. chromatic geometrical : small for paraxial rays study through 3 rd order optics chromatic : refractive index function of wavelength

25 Geometrical aberrations spherical aberration astigmatism distortion coma aberrations are reduced by combining lenses

26 Spherical aberration rays parallel to the axis do not converge outer portions of the lens yield smaller focal lenghts

27 Astigmatism Different focal length for inclined rays

28 Distortion magnification/focal length different for different angles of inclination pincushion (tele-photo) barrel (wide-angle) Can be corrected! (if parameters are know)

29 Coma point off the axis depicted as comet shaped blob

30 Chromatic aberration rays of different wavelengths focused in different planes cannot be removed completely sometimes achromatization is achieved for more than 2 wavelengths

31 Lens materials reference wavelengths : λ F 486.3nm λ d nm λ C nm lens characteristics :. refractive index n d 2. Abbe number V d (n d -) / (n F -n C ) typically, both should be high allows small components with sufficient refraction notation : e.g. glass BK7(57642) n d.57 and V d 64.2

Lens materials Crown Glass Fused Quartz & Fused Silica Calcium Fluoride 9000 Germanium 4000 inc Selenide Saphire 8000 6000 Plastic (PMMA) 00 200

32 Lens materials Crown Glass Fused Quartz & Fused Silica Calcium Fluoride 9000 Germanium 4000 inc Selenide Saphire Plastic (PMMA) WAVELENGTH (nm) additional considerations : humidity and temperature resistance, weight, price,...

optical axis. The bottom illustrations show the lens from the semifield angle.

33 Vignetting Darkening of images near the corner The white openings in the top illustrations denote the entrance pupil, which is the image of the aperture stop seen through all lens elements in front of it and from a position on the optical axis. The bottom illustrations show the lens from the semifield angle. Here, the white openings correspond to the clear aperture for light that is heading for the image corner. Figure from

34 Photographs (Niepce, La Table Servie, 822) Milestones: Daguerreotypes (839) Photographic Film (Eastman,889) Cinema (Lumière Brothers,895) Color Photography (Lumière Brothers, 908) Television (Baird, Farnsworth, worykin, 920s) Collection Harlingue-Viollet. CCD Devices (970) more recently CMOS

35 Cameras we consider 2 types :. CCD 2. CMOS

36 CCD separate photo sensor at regular positions no scanning charge-coupled devices (CCDs) area CCDs and linear CCDs 2 area architectures : interline transfer and frame transfer photosensitive storage

37 The CCD camera

fill rate) Uses standard CMOS technology Allows to put other components

38 CMOS Same sensor elements as CCD Each photo sensor has its own amplifier More noise (reduced by subtracting black image) Lower sensitivity (lower fill rate) Uses standard CMOS technology Allows to put other components on chip Smart pixels Foveon 4k x 4k sensor 0.8μ process 70M transistors

39 CCD vs. CMOS Mature technology Specific technology High production cost High power consumption Higher fill rate Blooming Sequential readout Recent technology Standard IC technology Cheap Low power Less sensitive Per pixel amplification Random pixel access Smart pixels On chip integration with other components

40 Color cameras We consider 3 concepts:. Prism (with 3 sensors) 2. Filter mosaic 3. Filter wheel and X3

41 Prism color camera Separate light in 3 beams using dichroic prism Requires 3 sensors & precise alignment Good color separation

42 Prism color camera

43 Filter mosaic Coat filter directly on sensor Demosaicing (obtain full colour & full resolution image)

44 Filter wheel Rotate multiple filters in front of lens Allows more than 3 colour bands Only suitable for static scenes

45 Prism vs. mosaic vs. wheel approach Prism Mosaic Wheel # sensors 3 Separation High Average Good Cost High Low Average Framerate High High Low Artefacts Low Aliasing Motion Bands or more High-end cameras Low-end cameras Scientific applications

46 three layers of pixels. The layers of pixels are embedded in silicon to take advantage of the fact that red, green, and blue light penetrate silicon to different depths Computer new color CMOS sensor Foveon s X3 better image quality smarter pixels

47 The Human Eye Reproduced by permission, the American Society of Photogrammetry and Remote Sensing. A.L. Nowicki, Stereoscopy. Manual of Photogrammetry, Thompson, Radlinski, and Speert (eds.), third edition, 966. Helmoltz s Schematic Eye

The distribution of rods and cones across the retina Reprinted from Foundations of, by B. Wandell, Sinauer Associates, Inc., (995). 995 Sinauer Associates, Inc.

48 The distribution of rods and cones across the retina Reprinted from Foundations of, by B. Wandell, Sinauer Associates, Inc., (995). 995 Sinauer Associates, Inc. Cones in the fovea Rods and cones in the periphery Reprinted from Foundations of, by B. Wandell, Sinauer Associates, Inc., (995). 995 Sinauer Associates, Inc.

49 Next class Radiometry: lights and surfaces

Image Formation: Camera Model

Image Formation: Camera Model Ruigang Yang COMP 684 Fall 2005, CS684-IBMR Outline Camera Models Pinhole Perspective Projection Affine Projection Camera with Lenses Digital Image Formation The Human Eye