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