最新Stereo Vision：立体视觉教学讲义PPT课件.ppt

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1、StereoVision：立体视觉BasicsAsingleimagehasnodepthinformationHumansinferdepthfrom‘clues’inthescenebutTheseareambiguousStereovisionsystemstaketwoimagesofascenefromdifferentviewpointsUsuallyreferredtoasleftandrightimagesLeftandrightimagesareslightlydifferentDisparityisDisplacementofcorr

2、espondingpointsfromoneimagetotheotherFromthedisparity,wecancalculatedepth2StereoVision-BasicsTwocameras:LeftandRightOpticalcentres:OLandORVirtualimageplaneisprojectionofactualimageplanethroughopticalcentreBaseline,b,istheseparationbetweentheopticalcentresScenePoint,P,imagedatpLa

3、ndpRpL=9pR=3Disparity,d=pR–PL=6DisparityistheamountbywhichthetwoimagesofParedisplacedrelativetoeachotherDepth,z=bfpdp=pixelwidth3StereoVisionGoalRecoveryof3Dscenestructureusingtwoormoreimages,eachacquiredfromadifferentviewpointinspaceUsingmultiplecamerasoronemovingcameraTermbinocu

4、larvisionisusedwhentwocamerasareemployedStereophotogrammetryUsingstereovisionsystemstomeasureproperties(dimensionshere)ofascene7StereoVision-TerminologyFixationpointPointofintersectionoftheopticalaxesofthetwocamerasBaselineDistancebetweenthecameraopticalcentresEpipolarplanePlanepa

5、ssingthroughtheopticalcentresandapointinthesceneEpipolarlineIntersectionoftheepipolarplanewiththeimageplaneConjugatepairCorrespondingpointsMatchingpointsPointinthescenethatisvisibletobothcameras(binocularlyvisible)willbeprojectedtoapairofpointsinthetwoimagesDisparityDistancebetwee

6、ncorrespondingpointswhenthetwoimagesaresuperimposedDisparitymapDisparitiesofallpointsformthedisparitymapUsualoutputfromastereomatchingalgorithmOftendisplayedasanimage8StereoVisionCameraconfigurationParallelopticalaxes9StereoVisionCameraconfigurationVergingopticalaxesNotethatif

7、thecamerasarealignedsothatthescanlinesofbothcameraslieintheepipolarplanes,thenmatchingpixelsmustlieinthesamescanlineonbothimages.Thisistheepipolarconstraint.10TriangulationBasicPrincipleAnyvisiblepointinthescenemustlieonthestraightlinethatpassesthroughtheopticalcentre(centreofproj

8、ection)andtheprojection(image)oft