1 of 4
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![Reality Media Lab.
2
用語解説
点X=(X, Y, Z)T
座標系L
（こちらを基準とする）
座標系R
[R|t]
（座標系LからRへの変換行列）
エピポーラ平面
エピポール
エピポーラ線
（座標系Lから見た点X）
T
LLLLL )1,,( yx?? ?p
（座標系Rから見た点X）
T
RRRRR )1,,( yx?? ?p
LLL pKq ?
RRR pKq ?](https://image.slidesharecdn.com/epipolargeometry-160928112318/85/Epipolar-geometry-2-320.jpg)
![Reality Media Lab.
3
基本行列E
? 物理座標系の点pLとpRを関連付ける行列
? 下図の関係から
? 上の式は，3つのベクトルpR，RpL，tは同一平面上にあることを
意味する
? つまり
tRpp ??? ?? LLRR
0)( LR ??? Rptp
where,0][ L
T
L
T
RR
??? EppRptp RtE ?? ][
点X
座標系L 座標系R
[R|t]
Lp Rp](https://image.slidesharecdn.com/epipolargeometry-160928112318/85/Epipolar-geometry-3-320.jpg)
![Reality Media Lab.
4
基礎行列F
? 画像座標系の点qLとqRを関連付ける行列
? p，q内部パラメータ行列Kの関係は
? よって，
Kpq ?
where,0
)(
)()(
R
T
L
R
1
R
T
L
T
L
R
1
R
T
L
1
LL
T
R
??
?
?
??
??
Fqq
qKEKq
qKEqKEpp
1
R
T
L
??
? EKKF
点X
座標系L 座標系R
[R|t]
Lp Rp
LLL pKq ?
RRR pKq ?
R?](https://image.slidesharecdn.com/epipolargeometry-160928112318/85/Epipolar-geometry-4-320.jpg)
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DL特徴
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心エコー 島根医学生version 【ADVANCED2024】by 島根大学医学部附属病院総合診療医センター 町立奥出雲病院 総合診療科 遠藤健史NEURALGPNETWORK
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町立奥出雲病院 総合診療科 遠藤健史
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高度総診*Cコース エコーハンズオン
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全身管理
病歴聴取のポイント
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＜NEURAL GP Networkとは＞
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- 2. Reality Media Lab. 2 用語解説 点X=(X, Y, Z)T 座標系L （こちらを基準とする） 座標系R [R|t] （座標系LからRへの変換行列） エピポーラ平面 エピポール エピポーラ線 （座標系Lから見た点X） T LLLLL )1,,( yx?? ?p （座標系Rから見た点X） T RRRRR )1,,( yx?? ?p LLL pKq ? RRR pKq ?
- 3. Reality Media Lab. 3 基本行列E ? 物理座標系の点pLとpRを関連付ける行列 ? 下図の関係から ? 上の式は，3つのベクトルpR，RpL，tは同一平面上にあることを 意味する ? つまり tRpp ??? ?? LLRR 0)( LR ??? Rptp where,0][ L T L T RR ??? EppRptp RtE ?? ][ 点X 座標系L 座標系R [R|t] Lp Rp
- 4. Reality Media Lab. 4 基礎行列F ? 画像座標系の点qLとqRを関連付ける行列 ? p，q内部パラメータ行列Kの関係は ? よって， Kpq ? where,0 )( )()( R T L R 1 R T L T L R 1 R T L 1 LL T R ?? ? ? ?? ?? Fqq qKEKq qKEqKEpp 1 R T L ?? ? EKKF 点X 座標系L 座標系R [R|t] Lp Rp LLL pKq ? RRR pKq ? R?