lecture25 - 1 Stereopsis 2 Reconstruction Only need to...

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Unformatted text preview: 1 Stereopsis 2 Reconstruction Only need to match features across epipolar lines Geometric Reconstruction Π′ O ′ Π O p p ′ R R ′ P 3 Pinhole Camera Model Z X f x- = Basic Stereo Derivations Derive expression for Z as a function of x 1 , x 2 , f and B 4 Basic Stereo Derivations Z X f x- = 1 Z B f x Z B X f x- = +- = 1 2 2 1 x x fB Z- = Basic Stereo Derivations Define the disparity: 2 1 x x d- = d fB Z = 5 Stereo image rectification Stereo image rectification Image Reprojection • reproject image planes onto common plane parallel to line between optical centers • a homography (3x3 transform) applied to both input images • pixel motion is horizontal after this transformation • C. Loop and Z. Zhang. Computing Rectifying Homographies for Stereo Vision . IEEE Conf. Computer Vision and Pattern Recognition, 1999. 6 l ′ l Image Rectification p ′ p P Π′ Π Π′ O ′ Π O l ′ l ′ p p ′ e e ′ •Common Image Plane •Parallel Epipolar Lines •Search Correspondences on scan line d fB Z = Reconstruction O O’ p p’ P ′ P Z P f p ′ ′ ′ = ′ Z P f p = t ( 29 ( 29 t P R t P R P t P R P T- =- = ′ + ′ =- 1 7...
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This note was uploaded on 06/12/2011 for the course CAP 5415 taught by Professor Staff during the Fall '08 term at University of Central Florida.

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lecture25 - 1 Stereopsis 2 Reconstruction Only need to...

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