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A29401 Robot Vision
创建日期：2024-04-12 14:28:17
标签： A29401
Robot Vision

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A29401

 MSc Advanced Computer Science First Year – MSc Robotics 

06 25024 Robot Vision Summer Examinations 2013 Time allowed: 1 hr 30 min

 [Answer ALL Questions] No Calculator A29401 -2- Turn Over [Answer ALL Questions] 1. (a) Describe a pinhole camera. [3%] 

(b) Describe the role of lenses in cameras. [3%] (c) What is a chromatic aberration? What causes it? [2%] (d) What is vignetting? 

What does it cause? [2%] 2. (a) Describe “kernel separability” and its importance for image filtering. [5%]

 (b) For the kernel given below determine if it is separable. Justify your answer. [5%] -1 -2 -1 2 4 2 3 6 3 3. 

(a) In pseudocode, describe the Hough transform for detecting circles with fixed radii. [7%]

 (b) Demonstrate the algorithm on a pair of points A=(3,4) and B=(5,4) for the values of radii r=1 and r=2. 

Map the two points into the parametric space. What can we infer about the points A and B from the analysis of 

the parametric space? [8%] 4. (a) In pseudocode, describe RANSAC for a general case of searching for 

the best model in the set of data. [10%] (b) Explain the role of RANSAC parameters. [5%] 5. 

(a) Describe the process of detecting interest points with a DoG (Difference of Gaussians) pyramid (as proposed by Lowe). [10%] 

(b) How do we achieve in-image-plane rotational invariance of a SIFT descriptor? [5%] No Calculator A29401 -3- End of Paper 6. 

(a) Given the sketch of a two-camera system (Ol, Or denote the left centre and the right centre of the cameras, respectively), 

and a 3D point P, draw and explain the terms epipols, epipolar plane, and epipolar lines that correspond to the point. [10%] 

(b) A mobile robot is equipped with two cameras (assume a pinhole model). The optical axes of the cameras are

 parallel and lie on a horizontal plane. The baseline between the cameras is 12 cm. The disparity of a point T in space is 16 mm. 

When the robot moves 20 cm in the viewing direction, the disparity increases to 30 mm. Calculate the focal length. [10%] 7. 

(a) Describe the steps involved in object learning and recognition using PCA. [10%] (b) Describe object learning 

and categorization using “bag of features”. [5%] . P Ol . .Or

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关键词一 关键词二 关键词三 关键词四 关键词五 和法规和的发更好的风格和 ECON 615 FINC 612 CSC148 COMP 639 ACCT 203 ACCT 211 PSYC 101 MTH2009 COMP52315 PSYCO 432 statistics MATH4063 11 xxx 1 MA1MSP MAST30028 MATH3888 CS341 EEE30002 ES2F5 MCD4160 CC0933 ECON 1101 MCHM3001 CHEM3118 COMMGMT 2511 COMP41280 STAT 631 24T1 IRE379 SENG365 ECON433 FIT3139 MATH4602 LING5621M FINS5516 ECON3208 MN2177 L2 SM EEET1415 Finance DS4023 COMP3004 7CCSMRTS K1S5B6 Stat230 CSCI4211 CSI2132 ECON30130 MAS6100 ENVS222 COM2107 INFO1112 STAT 4004 FIT2100 comp2022 COMP4691 Physics 307 Econ 659 probability CSCI316 fir29 CSCI203 COMP3160 COMP6714 INFO1113 Physics 7B Physics Photonics S203031 STAT2005 COMP90015 CSCI 2110 CSCC46 Information CSC477 COMP4650 Statistical COMP 346 COMP1017 ELEC340 MATH1007 Programming function STAT 244 CS 134 Java cse13s Math 108A FW20 ECON3389 CSE 130 Science 331 COMP9020 engineering COSC 445 CSE 5523 GAME2012 visualization MATH 235 Math 370 CSC343 COGS 108 EE524 COMP10200 STAT 416 3FK4 MSCI 311 ECON6113 ACC40700 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MATH20602 COMP532 MAS275 COMP5318 COMP4002 FIT5086 MAST20004 FIT3152 FIT5129 CIS2380 CS521 COMP 1005 EECMS CITS5501 ECE 462 ECON 6002 ENG 4051 CSC 648 CMT654 MECHENG 713 PHYS1002 AMME 2000 FP0060 DDES3200 MECHENG 743 BINF90002 FIT2081 ISYS90081 ELECTENG 722 BUS 360 ECOS3010 BUS2810 ETF2100 ENG2048 STAT5002 COMP2017 CEME 2003 MATS3004 COMP9319 PHYS1001 COMP5349 AMME2261 COMP-381 FIT3173 COSC2757 ENG4025 QBUS2820 COMP9414 MATH2021 EOSC118 MFIN6690 PMATH 321 CSE-141L MATH575A COMPSCI5002 COMP1511 management comp2123 FINS3616 COMP 3331 COMS30034 DTSC 71 AcF 702 AcF702 DTSC71 MAT021 ELE8083 ACFI213 EG-127J 127J FIT5163 FIT2001 ELE00113M CMT310 CS 245 ENGL 1101 MTH6115 EE497 CS 325 Math 124A MTH5130 MBA502 MGT 5380 ARCH 1261 F033800 20LLP109 ELE4009 FINANCIAL COMP3331 Computer ECE4179 20T3 COMP9311 COMP9311 UNSW MFIN6210 ACCT 5930 EE590 ENG2029 ECO100 SIT315 ACCT3610 COMP3600 STK2100 FIT2004 COMP30020 ACTL1101 Stat 101B BANA 200 COSC2473 ENGG1400 AI COMP90043 MMF 1914H PHYS 127 CS584 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