Computer Vision. Stereo Vision. Pinhole Camera. Perspective Projection. Stereo Vision. Two cameras. Known camera positions. Recover depth. scene point. p. p’. image plane. optical center. Correspondences. p. p’. Matrix form of cross product. a =a x i +a y j +a z k.
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T is the stereo baseline
Sum of Squared
(1) the cameras might have different fields of view.
(2) due to occlusion.
Estimated depth of field
(a fixed-size window)