Stereo Vision Configuration and Accuracy
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Transcript of Stereo Vision Configuration and Accuracy
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Stereo VisionConfiguration andAccuracy
1Hauraki Gulf, Jan 14, 2009
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General Configuration
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Optical axes •Meet at fixation point, P•Have angle between them•CFoV has arbitrary shape
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Canonical Configuration
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Baseline
(Half)Angular FoV
Closest point of CFoV
Scene object
FoV(single camera)
Image of scene object
Optical centres
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Field of view – Verging axis
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(Half)Angular FoV
Scene objectFoV(single camera)
Optical centre
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Common Field of View – Verging axes
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Fixationpoint Limit of CFoV
= 0 = 2 > 2
(Canonical config)
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Veith-Muller Circle
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Figure 5
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Object placement
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Object of extent, az > Zmin
-2 < < 2 2 < <
Object of extent, az > Zmin and z < Za
max
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Depth AccuracyCanonical configuration
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Points at intersections imaged onto centres of pixels in L and R images
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Optimal object location
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Depth resolution vs distance
Optimum baseline,b a
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Canonical Configuration
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Disparity,Extent of CFoVDepth resolution
vs z