Given the pinhole model of the monocular camera as Fig. 2. Given a feature with pixel location (200,300), (1) Describe the reason behind the image distortion, the radial and tangential distortion (5 marks) (2) The parameters for the radial distortion are k1= -0.0001, k2 = 0.0002, k3 = 0. The parameters for the tangential distortion are p1 = 0, p2 = 0. What is the undistorted location of the pixel? (20 marks) = (3) The depth of the feature is 10 meters. The intrinsic parameters of the camera are f = 254.1, f 254.2, Au = 304.7, Av = 193.6. What is the intrinsic matrix of the camera? Based on the undistorted location in (2), what is the 3D location of the feature in the camera frame? (20 marks) X1 Imaging plane Pixel plane (x, yl) 31 xC 2 Focal length Camera Optic center 20 yc Camera-body frame Figure 2. Illustration of the pinhole camera model. pc (x, yc,zc)