Introduction to Robotics - Homework 3 - Field of View of a Digital Camera

Sep 29, 2026

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Homework assignment on digital camera field of view and pixel-based motion perception. The work defines key camera concepts including resolution, sensor size, focal length, and F-number, then applies trigonometric relations to compute angle of view and field of view from sensor dimensions and focal length. It also estimates the pixel size and effective limit distance where one meter of object motion corresponds to one pixel shift. A short discussion links photon capture, pixel size, noise, and image quality, concluding with a simple relation demonstration.

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Homework 3: Field of View of a Digital Camera

Q.1: Sensor pixel size, focal length, and field of view

Vocabulary: camera resolution, sensor size, focal length, F-number, angle/field of view

Q.2: Distance for one-meter motion to become one pixel

Discussion: photons, pixel size, noise, and image quality

Q.3: Show the relation with a picture

Introduction to Robotics Homework \#3: Field of View of a Digital Camera Marina von Steinkirch March 7, 2013 Q.1 With a cell phone camera compute: 1. the size of the pixel elements in the sensor, 2. the focal length, 3. and the 􀀌eld of view. I. Vocabulary Camera Resolution A camera's resolution (number of pixels, NP ) is usually described as the number of megapixels captured in a photo. The camera sensor resolution translates 1 to 1 with the image resolution. Theresolution of an image is the number of pixels in the image, in two dimensions. The Size of the Sensor The size of the sensor or 􀀌lm (D, either on width or height) is giving by the number of pixels (NP ) times the size of each pixel (SP ) . Focal Length The focal length (f ) of a lens is the distance from the optical center of the lens to the sensor (or 􀀌lm) when the lens is focused on an object at in􀀌nity. The focal length is 􀀌xed for any lens. F-Number The F-number (relative aperture, N ) sets how much the camera's diaphragm opens, f N = diameter aperture: The lower the number, the wider will open, and more light will expose the picture. A large aperture (small F-number) will result in shallow depth of 􀀌eld and a small aperture (large F-number) will result large depth of 􀀌eld. Angle or Field of View The angle of view is de􀀌ned by the focal length and the image format dimension, 􀀋 = 2 arctan D 2f ; The angle of view is the angle of subject area that is projected onto the camera's sensor by the lens, i. e. , the angle over which the sensor can see through the lens. The 􀀌eld of view is another way of representing the angle of view, but expressed as a measurement of the subject area, rather than an angle. Q.2 Compute how far away (call this X) an object needs to be for a motion of one meter to show up as a motion of one pixel. Cell phone cameras generally use mini lenses that are wide-angle and 􀀌xed-focal length with a 􀀌xed aperture. In my experiment, I used a camera with resolution given by 3264 􀀂 2448 pixels (8Mp) . The (CMOS) sensor (diagonal) size should be around 1=3200 = 7:94 mm (P&S sensors range between 1/3.8" and 1/1.5) . So the pixel size in should be around 1.4 􀀖m. The f-number should have values between F2.0, F2.4, F2.6, F2.8 (typical for cellular cameras), so with an aperture around 3 mm, and the focal length should around 3.85 mm. If half of the width size of the sensor is d = D=2 = NP 􀀂 PS = 0:5 􀀂 2448 􀀂 1:4􀀖m and the we the focal length is f = 3:85 mm, the angle of view is 􀀘 52:83o or 􀀘 0:921 radians. This means that each pixel capture the amount of 0.016 degrees In terms of 􀀌eld of view 􀀋 􀀘 0:00055L so the 􀀌eld of view is around 1 .6 km. This is the limit distance where each 1 pixel holds 0 .5 m, after this, if we move 0.5m away we are in the adjacent pixel. So for a pixel to measure around 1 m, we need a distance (x) of around 3 km. Discussion Photons pass through a camera's lens and are captured by the pixels. The more photons a pixel catches, the brighter that pixel's color. Totally empty pixel record black and totally full pixel record white. Larger pixels, with larger surface areas, capture more photons per second, meaning a stronger signal, i. e. , in camera-speak means less noise and cleaner colors. Bigger pixels can also capture more photons per exposure without 􀀌lling up, so larger pixels hold on to their color longer and don't go white as quickly as smaller pixels Therefore, what really matters when determining digital camera image quality is not how many megapixels it has, but rather what the size of each of the pixels. The size of a pixel directly impactshow much noise an image will have in low light. The bigger the pixel is, the lower the noise because more photons can reach a bigger pixel sensor. Q.3 Take a picture and show this relation. Figure 1: (left) An object of 0.75m (lateral) size is recorded in 15 pixels for a distance of 160 m, meaning that 0.05m is recorded each pixel

FAQs

How is camera resolution related to sensor and image resolution in the homework?

Camera resolution is described as the number of pixels captured, measured in megapixels. Sensor resolution translates 1:1 with image resolution, so the image resolution is the number of pixels in two dimensions.

How do you compute the camera angle of view and field of view?

The homework uses the angle of view relation based on focal length and the image format dimension: θ = 2 arctan(D/(2f)). It then distinguishes field of view as a measurement of subject area rather than the angle.

What distance makes a one-meter motion appear as a one-pixel motion?

The solution estimates an effective limit distance where each 1 pixel corresponds to about 0.5 m of object motion. Extending to about 1 m per pixel gives an estimated distance of roughly 3 km.

Sep 29, 2026

Upload by lugxt