09 stereo

09 stereo - Spring 2006 Stereo 1 Epipolar Geometry CS ECE...

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Unformatted text preview: Spring 2006 Stereo 1 Epipolar Geometry CS / ECE 181B Ack: M. Turk and M. Pollefeys Chapter 9, Hartley & Zisserman (available online free, http://www.robots.ox.ac.uk/~vgg/hzbook/hzbook1.html) Thursday, February 18, 2010 Stereo 2 Seeing in 3D • Humans can perceive depth, shape, etc. – 3D properties of the world – How do we do it? • We use many cues – Oculomotor convergence/divergence – Accomodation (changing focus) – Motion parallax (changing viewpoint) – Monocular depth cues ♦ Occlusion, perspective, texture gradients, shading, size – Binocular disparity (stereo) • How can computers perceive depth? Thursday, February 18, 2010 Stereo 3 Multiple views and depth Thursday, February 18, 2010 Stereo 4 Why multiple views? • A camera projects the 3D world into 2D images • This is not always a problem – humans can figure out a lot from a 2D view! Thursday, February 18, 2010 Stereo 4 Why multiple views? • A camera projects the 3D world into 2D images • This is not always a problem – humans can figure out a lot from a 2D view! Thursday, February 18, 2010 Stereo 4 Why multiple views? • A camera projects the 3D world into 2D images • This is not always a problem – humans can figure out a lot from a 2D view! Thursday, February 18, 2010 Stereo 4 Why multiple views? • A camera projects the 3D world into 2D images • This is not always a problem – humans can figure out a lot from a 2D view! Thursday, February 18, 2010 Stereo 5 Why multiple views? • But precise 3D information (distance, depth, shape, curvature, etc.) is difficult or impossible to obtain from a single view • In order to measure distances, sizes, angles, etc. we need multiple views (and calibrated cameras!) – Monocular binocular trinocular… Thursday, February 18, 2010 Stereo 5 Why multiple views? • But precise 3D information (distance, depth, shape, curvature, etc.) is difficult or impossible to obtain from a single view • In order to measure distances, sizes, angles, etc. we need multiple views (and calibrated cameras!) – Monocular binocular trinocular… C 1 Thursday, February 18, 2010 Stereo 5 Why multiple views? • But precise 3D information (distance, depth, shape, curvature, etc.) is difficult or impossible to obtain from a single view • In order to measure distances, sizes, angles, etc. we need multiple views (and calibrated cameras!) – Monocular binocular trinocular… C 1 C 2 Thursday, February 18, 2010 Stereo 5 Why multiple views? • But precise 3D information (distance, depth, shape, curvature, etc.) is difficult or impossible to obtain from a single view • In order to measure distances, sizes, angles, etc. we need multiple views (and calibrated cameras!) – Monocular binocular trinocular… C 1 C 2 C 3 Thursday, February 18, 2010 Stereo 6 Multiple view geometry C 1 C 2 C 3 • There are many possible configurations of scene points that could have created corresponding points in multiple views Thursday, February 18, 2010 Stereo...
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This note was uploaded on 12/29/2011 for the course ECE 181b taught by Professor Staff during the Fall '08 term at UCSB.

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09 stereo - Spring 2006 Stereo 1 Epipolar Geometry CS ECE...

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