the world Jitendra Malik UC Berkeley Binocular Stereopsis Various camera configurations Single point of fixation where optical axes intersect Optical axes parallel fixation at infinity General case ID: 912570
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Slide1
Binocular Stereopsis
How multiple views enable one to reconstruct depth in
the world
Jitendra Malik
UC Berkeley
Slide2Binocular Stereopsis
Slide3Various camera configurations
Single point of fixation where optical axes intersect
Optical axes parallel (fixation at infinity)
General case
Slide4Disparity for a fixating binocular system
Slide5The two basic binocular eye movements
Slide6Disparity is zero on
Vieth
-Muller circle
Slide7Relation between disparity and depth
Slide8Various camera configurations
Single point of fixation where optical axes intersect
Optical axes parallel (fixation at infinity)
General case
Slide9Parallel Optical Axes
(fixation at infinity)
Slide10Parallel Optical Axes
(fixation at infinity)
Slide11Range Sensors
prime
sense
sensor (used in Kinect)
Velodyne LIDAR Sensor
http://www.primesense.com/, http://www.ifixit.com/,
http://mirror.umd.edu/roswiki/kinect_calibration(2f)technical.html
http://velodynelidar.com/lidar/lidar.aspx
Slide12Depth from Triangulation
Camera 1
Camera 2
Passive Stereopsis
Camera
Projector
Active Stereopsis
Active sensing simplifies the problem of estimating point correspondences
Slide13Recall the formula for disparity with parallel optical axes…
Slide14e
rror(distance)
–
Kinect
type sensor
Error in distance estimate increases quadratically with the distance
Slide15Slide16Various camera configurations
Single point of fixation where optical axes intersect
Optical axes parallel (fixation at infinity)
General case