The questions below are meant to highlight key aspects or principles related to the reading. Being able to answer them prior to the lectures of that week should provide you with some nominal uderstanding of what will be covered so that you may focus on understanding the material and listening, as opposed to the written material on the board.

Question 1: Describing in English rather than in mathematical form, answer the following questions:

1. What differentiates the orthographic projection equations from the perspective projection equations?
2. W hen taking a digital picture, quantization of the sensed scene is necessary. Why is that? What does the quantization lead to as a measurement?

Question 1:

Question 1: Computing depth from stereo, or 3D point recovery from stereo, is known as triangulation. Why is that? How is this triangle visualized?

Question 2: Given stereo (or two-frame) views, computing the essential and fundamental matrix system of equations use the cross-product trick again. What two rays are used and what vector is used in the cross product? What property of stereo views is exploited to derive this cross product? What is the difference between the essential matrix and the fundamental matrix?