Lecture - Stereo Vision (short)

Lecture - Stereo Vision (short) - ComputerVision Stereo...

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Computer Vision  Stereo Vision
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Bahadir K. Gunturk 2 Pinhole Camera
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Bahadir K. Gunturk 3 Review: Perspective Projection  ' ' ' x y f x y z = =
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Bahadir K. Gunturk 4 Stereo scene point scene point optical center optical center image plane image plane p p’ p p’
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Bahadir K. Gunturk 5 Stereo Constraints X 1 Y 1 Z 1 O 1 Image plane Focal plane M p p’ Y 2 X 2 Z 2 O 2 Epipolar Line Epipole
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Bahadir K. Gunturk 6 A Simple Stereo System Z w =0 LEFT CAMERA Left image: reference Right image: target RIGHT CAMERA Elevation Z w disparity Depth Z baseline
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Bahadir K. Gunturk 7 Stereo View Left View Right View Disparity
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Bahadir K. Gunturk 8 Stereo Disparity The separation between two matching objects is called the stereo disparity .
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Bahadir K. Gunturk 9 Parallel Cameras Z T f Z x x T l r = - - + O O l O O r P P p p l p p r T T Z Z x x l x x r f f T is the stereo baseline r l x x T f Z - = r l x x d - = Disparity:
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Bahadir K. Gunturk 10 Correlation  Approach For Each point (x l , y l ) in the left image, define a window centered at the point (x l , y l ) LEFT IMAGE
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Lecture - Stereo Vision (short) - ComputerVision Stereo...

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