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Concept
Computer stereo vision
Summary
Computer stereo vision is the extraction of 3D information from digital images, such as those obtained by a CCD camera. By comparing information about a scene from two vantage points, 3D information can be extracted by examining the relative positions of objects in the two panels. This is similar to the biological process of stereopsis.
In traditional stereo vision, two cameras, displaced horizontally from one another, are used to obtain two differing views on a scene, in a manner similar to human binocular vision. By comparing these two images, the relative depth information can be obtained in the form of a disparity map, which encodes the difference in horizontal coordinates of corresponding image points. The values in this disparity map are inversely proportional to the scene depth at the corresponding pixel location.
For a human to compare the two images, they must be superimposed in a stereoscopic device, with the image from the right camera being shown to the observer's right eye and from the left one to the left eye.
In a computer vision system, several pre-processing steps are required.
The image must first be undistorted, such that barrel distortion and tangential distortion are removed. This ensures that the observed image matches the projection of an ideal pinhole camera.
The image must be projected back to a common plane to allow comparison of the image pairs, known as .
An information measure which compares the two images is minimized. This gives the best estimate of the position of features in the two images, and creates a disparity map.
Optionally, the received disparity map is projected into a 3d point cloud. By utilising the cameras' projective parameters, the point cloud can be computed such that it provides measurements at a known scale.
The active stereo vision is a form of stereo vision which actively employs a light such as a laser or a structured light to simplify the stereo matching problem. The opposed term is passive stereo vision.
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