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1、StereoReconstructionShape(3D)fromtwo(ormore)imagesknowncameraviewpointsExampleimagesshapesurfacereflectanceScenariosThetwoimagescanarisefrom?Astereorigconsistingoftwocameras?thetwoimagesareacquiredsimultaneouslyor?Asinglemovingcamera(staticscene)?thetwoim
2、agesareacquiredsequentiallyThetwoscenariosaregeometricallyequivalentStereoheadCameraonamobilevehicleTheobjectiveGiventwoimagesofasceneacquiredbyknowncamerascomputethe3Dpositionofthescene(structurerecovery)Basicprinciple:triangulatefromcorrespondingimagepo
3、ints?Determine3Dpointatintersectionoftwoback-projectedraysCorrespondingpointsareimagesofthesamescenepointTriangulation/CCTheback-projectedpointsgeneraterayswhichintersectatthe3DscenepointAnalgorithmforstereoreconstruction1.Foreachpointinthefirstimagedeter
4、minethecorrespondingpointinthesecondimage(thisisasearchproblem)2.Foreachpairofmatchedpointsdeterminethe3Dpointbytriangulation(thisisanestimationproblem)ThecorrespondenceproblemGivenapointxinoneimagefindthecorrespondingpointintheotherimageThisappearstobea2
5、Dsearchproblem,butitisreducedtoa1DsearchbytheepipolarconstraintOutline1.Epipolargeometry?thegeometryoftwocameras?reducesthecorrespondenceproblemtoalinesearch2.Stereocorrespondencealgorithms3.TriangulationNotation/ThetwocamerasarePandP,anda3DpointXisimaged
6、asXPP/P:3×4matrixxx/X:4-vectorx:3-vector/CCWarningforequationsinvolvinghomogeneousquantities‘=’means‘equaluptoscale’EpipolargeometryEpipolargeometryGivenanimagepointinoneview,whereisthecorrespondingpointintheotherview??epipolarlineCC/epipolebaseline?Apoin
7、tinoneview“generates”anepipolarlineintheotherview?ThecorrespondingpointliesonthislineEpipolarlineEpipolarconstraint?Reducescorrespondenceproblemto1DsearchalonganepipolarlineEpipolargeometrycontinuedEpipolargeometryisaconsequenceofthecoplanarityofthecamera
8、centresandscenepointXxx//CCThecameracentres,correspondingpointsandscenepointlieinasingleplane,knownastheepipolarplaneNomenclatureX/rightepipolarlinelleftepipolarlinexx/e/e/CC/?Theepipolarlinelistheimageoftheraythrou
