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3D Stereo Camera

Stereo vision uses two or more images of the same scene taken from different viewpoints to recover the 3D structure of the scene. It involves two main problems - the correspondence problem of finding matching points in the images and the reconstruction problem of using triangulation to determine the 3D position of points from their correspondences. The depth or 3D position can be calculated using the disparity, which is the difference in the position of corresponding points, and the stereo camera parameters which describe the cameras' intrinsic properties and their relative extrinsic position and orientation.

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Charoensak Charayaphan
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135 views

3D Stereo Camera

Stereo vision uses two or more images of the same scene taken from different viewpoints to recover the 3D structure of the scene. It involves two main problems - the correspondence problem of finding matching points in the images and the reconstruction problem of using triangulation to determine the 3D position of points from their correspondences. The depth or 3D position can be calculated using the disparity, which is the difference in the position of corresponding points, and the stereo camera parameters which describe the cameras' intrinsic properties and their relative extrinsic position and orientation.

Uploaded by

Charoensak Charayaphan
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Stereo Vision

What is the goal stereo vision?


- The recovery of the 3D structure of a scene using two or more images of the 3D scene, each acquired from a different viewpoint in space. - The images can be obtained using muliple cameras or one moving camera. - The term binocular vision is used when two cameras are employed.

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Stereo setup and terminology


Fixation point: the point of intersection of the optical axis. Baseline: the distance between the centers of projection. Epipolar plane: the plane passing through the centers of projection and the point in the scene. Epipolar line: the intersection of the epipolar plane with the image plane. Conjugate pair: any point in the scene that is visible in both cameras will be projected to a pair of image points in the two images. Disparity: the distance between corresponding points when the two images are superimposed. Disparity map: the disparities of all points form the disparity map (can be displayed as an image).

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(two cameras in arbitrary position and orientation)

Triangulation - the principle underlying stereo vision


- The 3D location of any visible object point in space is restricted to the straight line that passes through the center of projection and the projection of the object point. - Binocular stereo vision determines the position of a point in space by nding the intersection of the two lines passing through the center of projection and the projection of the point in each image.

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The two problems of stereo


(1) The correspondence problem. (2) The reconstruction problem.

The correspondence problem


- Finding pairs of matched points such that each point in the pair is the projection of the same 3D point. - Triangulation depends crucially on the solution of the correspondence problem.

- Ambiguous correspondence between points in the two images may lead to several different consistent interpretations of the scene.

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The reconstruction problem


- Given the corresponding points, we can compute the disparity map. - The disparity map can be converted to a 3D map of the scene (i.e., recover the 3D structure) if the stereo geometry is known.

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Recovering depth (reconstruction)


- Consider recovering the position of P from its projections pl and pr . xl = f Xl xZ X x Z or X l = l l and x r = f r or X r = r r Zl f Zr f

- In general, the two cameras are related by the following transformation: P r = R(P l T ) - Using Z r = Z l = Z and X r = X l T we have: xl Z x Z T = r f f or Z = Tf d

where d = x l x r is the disparity (i.e., the difference in the position between the corresponding points in the two images)

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Stereo camera parameters


Intrinsic parameters: characterize the transformation from image plane coordinates to pixel coordinates, in each camera. Extrinsic parameters (R, T ): describe the relative position and orientation of the two cameras P r = R(P l T ) (aligns right camera with left camera) - Can be determined from the extrinsic parameters of each camera: R = R r RT l T = T l RT T r

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