Phase Correlation. Phase Correlation. Take cross correlation. Take inverse Fourier transform. Location of the impulse function gives the translation amount between the images. Phase Correlation. Computer Vision . Stereo Vision. Coordinate Systems.
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Take cross correlation
Take inverse Fourier transform
Location of the impulse function gives the translation amount between the images
Exercise: Write the rotation matrix for a 2D coordinate system.
Depth can be recovered with two images and triangulation.
T is the stereo baseline
For each window, match to closest window on epipolar line in other image.
Sum of Squared
(1) the cameras might have different fields of view.
(2) due to occlusion.
Estimated depth of field
(a fixed-size window)
W = 20Window size
XrParameters of a Stereo System
courtesy of Sportvision
courtesy of Princeton Video Image