3-D computer vision, an overview Find 3-d structure using 2-D images One camera: Possible but limited results, e.g. by identify vanishing lines Two cameras: Stereo: use Epipolar geometry( this chapter) Three cameras Trifocal tensor method (very advanced not discussed here cameras Factorization(Chapter 9), fast method, moderate accuracy Bundle adjustment chapter 11), slow but accurate Stereo vO. a3-D computer vision, an overview • Find 3-D structure using 2-D images • One camera: – Possible but limited results, e.g. by identify vanishing lines • Two cameras: – Stereo: use Epipolar geometry (This chapter) • Three cameras: – Trifocal tensor method (very advanced not discussed here) • N cameras: – Factorization (Chapter 9), fast method, moderate accuracy – Bundle adjustment (chapter 11), slow but accurate. Stereo v0.a 2