Visualization- Determining Depth From Stereo. Saurav Basu BITS Pilani 2002. Introduction. Example of Human Vision Perception of Depth from Left and right eye images Difference in relative position of object in left and right eyes. Depth information in the 2 views??.
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LEFT VIEW RIGHT VIEW
LEFT EYE RIGHT EYE
Images of the same world scene taken from slightly displaced view points are called stereo images.
To illustrate how a typical stereo imaging system let us take a look at the camera model for obtaining stereo images
Diagram to illustrate the Stereo Matching
Disparity of this pixel is 1 since x1=0 and x2=1,x2-x1=1
Assumption :Matching Pixels lie on same horizontal Raster Line(Rectified stereo)
SSD:Sum of Squared Deviations
SAD:Sum of Absolute Differences
Demonstration of the 9 different windows used for the Correlation
In Perspective projections the projectors are of finite length and converge at a point called the center of projection.
Center Of Projection
The ‘u’ axis direction is defined such that the ‘u’,’v’ and ‘n’ form a right handed coordinate system.
A view Window on the view plane is defined ,projections lying outside the view window are not displayed .
The coordinates (Umin,Vmin) and (Umax,Vmax) define this window.
The center of projection Projection reference point(PRP).
Center of Projection
THE 3-D VIEWING REFERENCE COORDINATE SYSTEM
X or Y
The 6 bounding planes of the canonical view volume have equations:
x=z ,x=-z ,y=z, y=-z z=zmin, z=-1
Canonical view volume for Perspective Projections
4)Shear to make center line of view volume the the z-axis.
5)Scale such that the view volume becomes the canonical perspective view volume
1. The translation matrix is
2. The Rotation matrix is