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

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

3. Image acquisition: Timbuktu

4. Camera Calibration

5. Calibration: image points

6. Calibration: 3D points

7. Camera Calibration

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

9. Epipolar Geometry

10. Timbuktu

12. Helicopter

13. Eurotown

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

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

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

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

18. Results

20. 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