lecture25

lecture25 - Stereopsis Reconstruction Only need to match...

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Stereopsis
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Reconstruction Only need to match features across epipolar lines
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Geometric Reconstruction Π O Π p p R R P
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Pinhole Camera Model Z X f x - =
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Basic Stereo Derivations Derive expression for Z as a function of x 1 , x 2 , f and B
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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 - =
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Basic Stereo Derivations Define the disparity: 2 1 x x d - = d fB Z =
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Stereo image rectification
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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.
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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 =
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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
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Reconstruction Z P f p = ( 29 ( 29 t P
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lecture25 - Stereopsis Reconstruction Only need to match...

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