stereo vision configuration and accuracy
DESCRIPTION
Stereo Vision Configuration and Accuracy. Hauraki Gulf, Jan 14, 2009. General Configuration. Optical axes Meet at fixation point, P Have angle between them CFoV has arbitrary shape. Canonical Configuration. Scene object. FoV (single camera). Closest point of CFoV. - PowerPoint PPT PresentationTRANSCRIPT
Stereo VisionConfiguration andAccuracy
1Hauraki Gulf, Jan 14, 2009
General Configuration
2
Optical axes •Meet at fixation point, P•Have angle between them•CFoV has arbitrary shape
Canonical Configuration
3
Baseline
(Half)Angular FoV
Closest point of CFoV
Scene object
FoV(single camera)
Image of scene object
Optical centres
Field of view – Verging axis
4
(Half)Angular FoV
Scene objectFoV(single camera)
Optical centre
Common Field of View – Verging axes
5
Fixationpoint Limit of CFoV
= 0 = 2 > 2
(Canonical config)
Veith-Muller Circle
6
Figure 5
Object placement
7
Object of extent, az > Zmin
-2 < < 2 2 < <
Object of extent, az > Zmin and z < Za
max
Depth AccuracyCanonical configuration
8
Points at intersections imaged onto centres of pixels in L and R images
Optimal object location
9
Depth resolution vs distance
Optimum baseline,b a
Canonical Configuration
10
Disparity,Extent of CFoVDepth resolution
vs z