Depth from Stereo Voicu Popescu Matt Waibel Comp 290-075 5-01-2000.

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Presentation transcript:

Depth from Stereo Voicu Popescu Matt Waibel Comp

Overview Image Acquisition Camera Calibration Epipolar Geometry Correlation Stereopsis Ideas for Future Work

Image acquisition: Timbuktu

Camera Calibration

Calibration: image points

Calibration: 3D points

Camera Calibration

60 deg horizontal field of view 35 mm film 8 inches baseline 4096 x 3112 pixels

Epipolar Geometry

Timbuktu

Helicopter

Eurotown

Correlation (Template Matching) Choosing Template size (from left image) –dependant on feature size

Correlation (cont.) Mean squared error of each channel Determining the “best” match from the correlation

Image Preprocessing Resizing images to reduce the number of calculations Candidate pixels in left image –Hand picked pixels –Edges from left image –Every pixel

Stereopsis Correspondences + stereo geometry => depth => rendering from other locations

Results

Ideas for Future Work Improve correlation quality metric Resolution pyramid for image: –start at low res when featureless surfaces are smaller Resolution pyramid for pattern Inter-register several stereo pairs

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