3D Vision.pptVIP

3D Vision Lecture 14 Stereo Vision (I) Stereo Vision Problem Infer 3D structure of a scene from two or more images taken from different viewpoints Two primary Sub-problems Correspondence problem (stereo match) - disparity map Similarity instead of identity Occlusion problem: some parts of the scene are visible only in one eye Reconstruction problem - 3D What we need to know about the cameras’ parameters Often a stereo calibration problem Lectures on Stereo Vision Stereo Geometry – Epipolar Geometry (*) Correspondence Problem (*) – Two classes of approaches 3D Reconstruction Problems – Three approaches A Stereo Pair Problems Correspondence problem (stereo match) - disparity map Reconstruction problem - 3D More Images… Problems Correspondence problem (stereo match) - disparity map Reconstruction problem - 3D More Images… Problems Correspondence problem (stereo match) - disparity map Reconstruction problem - 3D More Images… Problems Correspondence problem (stereo match) - disparity map Reconstruction problem - 3D More Images… Problems Correspondence problem (stereo match) - disparity map Reconstruction problem - 3D More Images… Problems Correspondence problem (stereo match) - disparity map Reconstruction problem - 3D Lecture Outline A Simple Stereo Vision System Disparity Equation Depth Resolution Fixated Stereo System Zero-disparity Horopter Epipolar Geometry Epipolar lines – Where to search correspondences Epipolar Plane, Epipolar Lines and Epipoles /~luong/research/Meta3DViewer/EpipolarGeo.html Essential Matrix and Fundamental Matrix Computing E F by the Eight-Point Algorithm Computing the Epipoles Stereo Rectification Stereo Geometry Converging Axes – Usual setup of human eyes Depth obtained by triangulation Correspondence problem: pl and pr correspond to the left and right projections of P, respectively. A Simple Stereo System Disparity Equation Disparity vs. Baseline Depth Accuracy Given the same image localization error Angle of cones in the figure Dept