CS 223b Assignment 3: Review
CS 223b Assignment 3: Review
Vaibhav Vaish
Epipolar GeometryEpipolar Geometry
From Multiple View Geometry, Hartley & Zisserman, Pg. 211
C C’
Epipolar GeometryEpipolar Geometry
Epipolar line does not depend on depth!
C C’
Horizontal epipolar lines, disparityHorizontal epipolar lines, disparity
C C’
xL xR
Depth (Z) and Disparity (d)Depth (Z) and Disparity (d)
Z
X
f
xR ?f
xL
C
xL xR
f
B
(X,Y,Z)
Z
X
? RL xxd
Three-camera StereoThree-camera Stereo
Show that dL = - dR
dL = xL – x0
dR = xR – x0
Three-camera StereoThree-camera Stereo
Finding DisparitiesFinding Disparities
At disparity = 0
Finding DisparitiesFinding Disparities
At disparity = 24
For more information …For more information …
• 2-view stereo
– http://cat.middlebury.edu/stereo/
• N-view stereo (N goes up to 363)
– http://vision.middlebury.edu/mview/
• Ripe for project material