Embed Size (px)
Citation preview
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
