lec14 - Announcement Office Hours: Today 11:30-12:30...

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1 CSE152, Spring 2011 Intro Computer Vision Stereo Vision II Introduction to Computer Vision CSE 152 Lecture 14 CSE152, Spring 2011 Intro Computer Vision Announcement • Office Hours: Today 11:30-12:30 • Midterm discussed last lecture • HW3 to be posted CSE152, Spring 2011 Intro Computer Vision 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 CSE152, Spring 2011 Intro Computer Vision BINOCULAR STEREO SYSTEM Estimating Depth Z X (0,0) (d,0) Z=f X L X R Disparity (X L - X R ) X L =fX/Z X R =f(X-d)/Z Z = d f (X L - X R ) X = d X L (X L - X R ) (Adapted from Hager) (X,Z) Two equations, two unknowns CSE152, Spring 2011 Intro Computer Vision Reconstruction: General 3-D case • Linear Method: find P such that • Non-Linear Method: find Q minimizing where q=MQ and q’=M’Q Goal: Given two image measurements p and p’, estimate P. Two methods
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lec14 - Announcement Office Hours: Today 11:30-12:30...

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