Presentation07 - Computer Vision Lecture #7 Hossam...

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Computer Vision Lecture #7 Hossam Abdelmunim 1 2 1 Computer & Systems Engineering Department, Ain Shams University, Cairo, Egypt 2 Electerical and Computer Engineering Department, University of Louisville, Louisville, KY, USA ECE619/645 – Spring 2011
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Stereopsis
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Stereo vision ~6cm ~50cm
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Depth for familiar objects (Gregory 1970; Hill and Bruce 1993, 1994; Papathomas and DeCarlo 1999)
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Stereo photography and stereo viewers Invented by Sir Charles Wheatstone, 1838 Take two pictures of the same subject from two slightly different viewpoints and display so that each eye sees only one of the images.
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Public Library, Stereoscopic Looking Room, Chicago, by Phillips, 1923
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Estimating depth with stereo Stereo : shape from “motion” between two views • We’ll need to consider: Info on camera pose (“calibration”) Image point correspondences scene point optical center image plane
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The Two Problems of Stereo 1. Correspondence:
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The Two Problems of Stereo 2. 3D Reconstruction http://vision.deis.unibo.it/fede/demos/rec3D.htm
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Geometry for a simple stereo system • First, assuming parallel optical axes, known camera parameters (i.e., calibrated cameras): • Let us assume two identical cameras.
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baseline optical center (left) optical center (right) Focal lengt h World point Depth of p image point (left) image point (right) d T l T r
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Similar triangles (p l , P, p r ) and (O l , P, O r ): Geometry for a simple stereo system Z T f Z x d d x T r l ) ( ) ( r l x x T f Z disparity
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Depth from disparity image I(x,y) image I ´ (x ´ ,y ´ ) Disparity map D(x,y) (x ´ ,y ´ )=(x+D(x,y), y)
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The two cameras need not have parallel optical axes. Vs.
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Presentation07 - Computer Vision Lecture #7 Hossam...

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