Intro Essential Mat. I Fundamental Mat. I Epipolar Geom. I Corresp. I Reconst Triangular calculation Left Right bject Camera Camera Px(x,y, z) Principle Principle By similar triangle axIs axIs w.r.t left camera lens center z (x-b Left Right Image X Image lane plane elimate x→ f·b Focal Leng th b baseline) Left camera center By similar triangle, (reference point) Horizontal w.r.t right camera lens center Disparity=X -XE Stereo vO. a One major problem is to locate x' and x' r the correspondence problemIntro. | Essential Mat. | Fundamental Mat. | Epipolar Geom. | Corresp. | Reconst. • , ( ) elimate ( ' l ' r ' ' l r x x = z f x - b x = z f f b x z = x - x ) •  Stereo v0.a 8 x’l x’r 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 By similar triangle, w.r.t left camera lens center By similar triangle, w.r.t right camera lens center Triangular calculation One major problem is to locate x’l and x’r The correspondence problem x