Intro Essential Mat. I Fundamental Mat. I Epipolar Geom. I Corresp. I Reconst a simple stereo system Assume cameras are aligned horizontally left Right Object CameraCamera Px(x,y, z) (No vertical disparity) Apoint in 3D(Px) Principle Principle axiS axIs eft image Right image plane plane Left Right Image : XL Image plane plane Focal Left Length Stereo: d Rig optical Baseline(B)optical Center Center B Baseline) O(left o(rig Left camera center (reference point) Horizontal (reference Disparity=XL-XR point) Stereo vO. aIntro. | Essential Mat. | Fundamental Mat. | Epipolar Geom. | Corresp. | Reconst. A simple stereo system Assume cameras are aligned horizontally (No vertical disparity) • Stereo v0.a 6 A point in 3D (Px) Right image plane Left image plane Left optical Center O(left) (reference point) Right optical Center O(right) Stereo: Baseline (B) xL xR Focal Length f Object Px(x,y,z) z Left camera center (reference point) Horizontal Disparity=xL -xR B (Baseline) Left Camera Principle axis Right Camera Principle axis Left Image plane Right Image plane