Solve for homography H relating reference plane to image plane
•H maps reference plane (X,Y) coords to image plane (x,y)
coords
•Fully determined from
4 known points on ground plane
–Option
A: physically measure 4 points on
ground
–Option
B: find a square, guess the
dimensions
–Option
C: Note H = columns 1,2,4 projection matrix
»derive
on board
•Given
(x, y), can find (X,Y) by H-1