Depth from Stereo

1
Depth from Stereo

• Voicu Popescu
• Matt Waibel
• Comp 290-075
• 5-01-2000

2
Overview

• Image Acquisition
• Camera Calibration
• Epipolar Geometry
• Correlation
• Stereopsis
• Ideas for Future Work

3
Image acquisition Timbuktu
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Camera Calibration
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Calibration image points
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Calibration 3D points
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Camera Calibration
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Camera Calibration

• 60 deg horizontal field of view
• 35 mm film
• 8 inches baseline
• 4096 x 3112 pixels

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Epipolar Geometry
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Timbuktu
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Timbuktu
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Helicopter
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Eurotown
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Correlation (Template Matching)

• Choosing Template size (from left image)
• dependant on feature size

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Correlation (cont.)

• Mean squared error of each channel
• Determining the best match from the correlation

16
Image Preprocessing

• Resizing images to reduce the number of
  calculations
• Candidate pixels in left image
• Hand picked pixels
• Edges from left image
• Every pixel

17
Stereopsis

• Correspondences stereo geometry gt depth gt
  rendering from other locations

18
Results
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Results
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Ideas for Future Work

• Improve correlation quality metric
• Resolution pyramid for image
• start at low res when featureless surfaces are
  smaller
• Resolution pyramid for pattern
• Inter-register several stereo pairs