ie stereo vision - ntua

STEREO VISION AND EPIPOLAR GEOMETRY

INDUSTRIAL ELECTRONICS

COMPUTER VISION

Dr. G.C.Karras

Control Systems Lab, NTUAThis presentation is based on the slides: “Multiple View Geometry”, Richard Hartley and Andrew Zisserman CVPR June 1999

TWO VIEW GEOMETRY

Dr. G.C.Karras

CORRESPONDENSE GEOMETRY

Dr. G.C.Karras

EPIPOLAR GEOMETRY

Dr. G.C.Karras

l'l

EPIPOLAR GEOMETRY EXAMPLE

Dr. G.C.Karras

Stereo Configuration with Parallel Cameras (side by side)

Left Camera view Right Camera view

This is the most common stereo configuration

Left Image Right Image

MATRIX NOTATION FOR VECTOR

PRODUCT

Dr. G.C.Karras

FUNDAMENTAL MATRIX F

Definition & Properties

Dr. G.C.Karras

COMPUTATION OF THE

FUNDAMENTAL MATRIX

Dr. G.C.Karras

COMPUTATION OF THE

FUNDAMENTAL MATRIX

Dr. G.C.Karras

n correspondences

FUNDAMENTAL MATRIX EXAMPLES

Dr. G.C.Karras June 2015

FUNDAMENTAL MATRIX EXAMPLES

Dr. G.C.Karras

FUNDAMENTAL MATRIX EXAMPLES

Dr. G.C.Karras

TRIANGULATION

Dr. G.C.Karras

TRIANGULATION

Dr. G.C.Karras

RECOVERING DEPTH

Image Reconstruction

Dr. G.C.Karras

RECOVERING DEPTH

Image Reconstruction

Dr. G.C.Karras