Stereo Vision Egon Elbre Hans Mesalu general stuff about this 3D - - PowerPoint PPT Presentation

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Nov 13, 2022 284 likes •619 views

Stereo Vision Egon Elbre Hans Mesalu general stuff about this 3D thing why? applications games movies simulators robotics product presentations architecture visualization virtual television studios virtual presence for video

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Stereo Vision

Egon Elbre Hans Mäesalu

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general stuff about this 3D thing

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why?

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applications

games movies simulators robotics product presentations architecture visualization virtual television studios virtual presence for video communications general virtual reality applications

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Single-View Geometry

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rthographic projection

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perspective projection

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IRL

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simple camera projection

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just think of it as magic

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extrinsic/intrinsic camera calibration matrix

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finding 3D point with triangulation

assuming we know where the cameras are

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finding a depth map

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image rectification

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finding matching points simpler rectification gives us

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step 1 - get the pictures

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step 2 - find some interesting points

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step 3 - guess similar points

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step 4 - remove outliers (RANSAC)

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RANSAC RANdom SAmpling Consensus

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rectify

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disparity map

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demo video

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Introduction to Epipolar Geometry

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terminology

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F(undamental)-matrix

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E(ssential)-matrix

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and finally...

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reconstruction from two views only

1. identify a number (at least 8) of point correspondences
2. form linear equations based on x'TFx=0 formula
3. find the solution F for those equations
4. compute P, P' camera matrices from F
5. given to cameras P, P' and corresponding point pairs

triangulate the 3D point X we know how to do 1 and 5 we won't discuss 2, 3 as it's about solving some linear equations and no one will remember it after the lecture anyway about 4 - well that's complicated

note! can't be done uniquely due to some ambiguity

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