lec14 - Binocular Stereopsis Mars Stereo Given two images...

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1 CS252A, Fall 2010 Computer Vision I Stereo Computer Vision I CSE252A Lecture 14 CS252A, Fall 2010 Computer Vision I Binocular Stereopsis: Mars Given two images of a scene where relative locations of cameras are known, estimate depth of all common scene points. Two images of Mars CS252A, Fall 2010 Computer Vision I An Application: Mobile Robot Navigation The Stanford Cart, H. Moravec, 1979. The INRIA Mobile Robot, 1990. Courtesy O. Faugeras and H. Moravec. CS252A, Fall 2010 Computer Vision I Mars Exploratory Rovers: Spirit and Opportunity CS252A, Fall 2010 Computer Vision I Commercial Stereo Heads CS252A, Fall 2010 Computer Vision I Stereo can work well
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2 CS252A, Fall 2010 Computer Vision I Need for correspondence Truco Fig. 7.5 CS252A, Fall 2010 Computer Vision I Triangulation CS252A, Fall 2010 Computer Vision I Stereo Vision Outline Offline: Calibrate cameras & determine “epipolar geometry” Online 1. Acquire stereo images 2. Rectify images to convenient epipolar geometry 3. Establish correspondence 4. Estimate depth A B C D CS252A, Fall 2010 Computer Vision I BINOCULAR STEREO SYSTEM Estimating Depth Z X (0,0) (d,0) Z=f X L X R DISPARITY (X L - X R ) Z = (f/X L ) X Z= (f/X R ) (X-d) (f/X L ) X = (f/X R ) (X-d) X = (X L d) / (X
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