11 Geometric transformations, calibration and registration
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This chapter currently contains the approved heading structure but no reviewed technical content.
11.1 Coordinate systems and homogeneous coordinates
11.1.1 Image, camera, world and object frames
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11.1.2 Homogeneous representation of points and lines
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11.1.3 Matrix representation of transformations
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11.2 The 2D transformation hierarchy
11.2.1 Rigid, similarity and affine transformations
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11.2.2 Projective transformations (homographies)
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11.2.3 Estimation from point correspondences
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11.2.4 Robust estimation of homographies
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11.3 Image warping and interpolation
11.3.1 Forward vs inverse mapping
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11.3.2 Nearest-neighbour, bilinear and bicubic interpolation
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11.3.3 Anti-aliased warping
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11.4 The pinhole camera model
11.4.1 Intrinsic parameters and the camera matrix
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11.4.2 Extrinsic parameters
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11.4.3 Radial and tangential distortion models
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11.5 Camera calibration
11.5.1 Zhang’s method and the planar-target approach
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11.5.2 Calibration targets and image-acquisition strategy
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11.5.3 Reprojection error and calibration diagnostics
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11.5.4 Uncertainty and re-calibration policy
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11.5.5 Hand-eye calibration for robot vision
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11.6 Image registration
11.6.1 Feature-based registration pipelines
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11.6.2 Intensity-based (direct) registration
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11.6.3 Registration for inspection: golden templates
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11.6.4 Mosaicing and stitching
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11.7 Image-comparison metrics
11.7.1 Absolute and squared differences; PSNR
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11.7.2 SSIM and multi-scale SSIM
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11.7.3 Histogram-distance metrics
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11.7.4 Learned perceptual metrics (outline)
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