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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
Stereo VisionConfiguration andAccuracy

Hauraki Gulf, Jan 14, 2009

general configuration
General Configuration
  • Optical axes
    • Meet at fixation point, P
    • Have angle  between them
    • CFoV has arbitrary shape
canonical configuration
Canonical Configuration

Scene object

FoV

(single camera)

Closest point of CFoV

(Half)Angular FoV

Optical centres

Image of scene object

Baseline

field of view verging axis
Field of view – Verging axis

FoV

(single camera)

Scene object

(Half)Angular FoV

Optical centre

common field of view verging axes
Common Field of View – Verging axes

Fixationpoint

Limit of CFoV

 = 0

 > 2

 = 2

(Canonical config)

object placement
Object placement

Object of extent, a

z > Zmin and z < Zamax

Object of extent, a

z > Zmin

-2 <  < 2 

2 <  < 

depth accuracy canonical configuration
Depth AccuracyCanonical configuration

Points at intersections imaged onto centres of pixels in L and R images

optimal object location
Optimal object location

Depth resolution vs distance

Optimum baseline,

b a

canonical configuration1
Canonical Configuration
  • Disparity,
  • Extent of CFoV
  • Depth resolution
  • vs z