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Stereo Vision Configuration and Accuracy

Stereo Vision Configuration and Accuracy. Hauraki Gulf, Jan 14, 2009. General Configuration. Optical axes Meet at fixation point, P Have angle  between them CFoV has arbitrary shape. Canonical Configuration. Scene object. FoV (single camera). Closest point of CFoV.

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Stereo Vision Configuration and Accuracy

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  1. Stereo VisionConfiguration andAccuracy Hauraki Gulf, Jan 14, 2009

  2. General Configuration • Optical axes • Meet at fixation point, P • Have angle  between them • CFoV has arbitrary shape

  3. Canonical Configuration Scene object FoV (single camera) Closest point of CFoV (Half)Angular FoV Optical centres Image of scene object Baseline

  4. Field of view – Verging axis FoV (single camera) Scene object (Half)Angular FoV Optical centre

  5. Common Field of View – Verging axes Fixationpoint Limit of CFoV  = 0  > 2  = 2 (Canonical config)

  6. Veith-Muller Circle Figure 5

  7. Object placement Object of extent, a z > Zmin and z < Zamax Object of extent, a z > Zmin -2 <  < 2  2 <  < 

  8. Depth AccuracyCanonical configuration Points at intersections imaged onto centres of pixels in L and R images

  9. Optimal object location Depth resolution vs distance Optimum baseline, b a

  10. Canonical Configuration • Disparity, • Extent of CFoV • Depth resolution • vs z

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