STEREO%20IMAGING%20(continued)

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STEREO IMAGING(continued)
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BINOCULAR STEREO SYSTEM

• GOAL Passive 2-camera system for triangulating
  3D position of points in space to generate a
  depth map of a world scene.
• Example of a depth-map zf(x,y) where x,y
  coordinatizes one of the image planes and z is
  the height above the respective image plane.

(2D topdown view)
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BINOCULAR STEREO SYSTEM

• Correspondence Problem is a key issue for
  binocular stereo -- namely identify image
  features in respective images that correspond to
  exactly the same world object point.
• Clearly localization of image features (e.g.,
  edges) is of critical importance to 3D
  measurement accuracy.

(2D topdown view)
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SOME OTHER MAJOR PROBLEMS WITH CORRESPONDENCE (2D
VIEW)
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BINOCULAR STEREO SYSTEM(2D VIEW
Verged Stereo System
Nonverged Stereo System
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BINOCULAR STEREO SYSTEM
DISPARITY (XL - XR)
Z (f/XL) X Z (f/XR) (X-d)
(f/XL) X (f/XR) (X-d) X (XR d) / (XL - XR)
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BINOCULAR STEREO SYSTEM(3D VIEW)

• Rays of projection in 3D may not intersect at all.

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BINOCULAR STEREO SYSTEM
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BINOCULAR STEREO SYSTEM
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BINOCULAR STEREO SYSTEM

u .D - (u.v)(v.D)
a
o

(v.u)(u.D) - v.D
b
o
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EPIPOLAR GEOMETRY

• For an image point C in the left image plane
  consider the plane determined by the left image
  focal point A the right image focal point B and
  the point C. Call this the epipolar plane for
  image point C with respect to a particular
  binocular stereo configuration.

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EPIPOLAR GEOMETRY

• In order to guarantee intersection of projective
  rays produced from the left and right image
  planes, the point in the right image plane
  corresponding to C must lie on the intersection
  of the epipolar plane with the right image plane.

EPIPOLAR LINE
EPIPOLAR PLANE
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EPIPOLAR GEOMETRY(SCANLINE COHERENT STEREO
SYSTEM)
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EPIPOLAR GEOMETRY(VERGED IN)