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Stereo Vision Configuration and Accuracy in Hauraki Gulf - A Canonical Approach

This document presents a comprehensive overview of stereo vision configuration and accuracy as applied to the Hauraki Gulf. It details the optical axes meeting at a fixation point, the configuration of common fields of view (CFoV), and the relationships between the imaging of scene objects and their depth accuracy. Key concepts include the angular field of view, baseline calculations, and determination of optimal object locations based on disparity and depth resolution. Understanding these fundamentals enhances the effectiveness of stereo vision systems in diverse applications.

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Stereo Vision Configuration and Accuracy in Hauraki Gulf - A Canonical Approach

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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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