A pinhole camera is mounted (at height hhof 30 cm.) on a robot. The camera observes the attached image file "Img people.jpg". The optical axis of the camera is parallel to the plane of motion of the robot and is also parallel to both sides of the street. Moreover, from the camera datasheet, we know that each pixel has size 4.4µm. In addition, from a previous calibration phase, we know that the pixel value of the focal length (i.e., f · ku) is equal to 1039. Moreover kv = ku. Given the above assumptions:
a. If the camera observes a pedestrians, write the equation that uses the image projection (u, v) of a pedestrian's feet position to compute the distance d from the camera's optical-center to the pedestrian.