Intro. Essential Mat. I Fundamental Mat. Epipolar Geom. I Corresp. I Reconst Example assume cameras are aligned horizontallyno vertical motion of camera= no vertical disparity Left image Right image White crosses are overlaid on images to show the positions of features They are not 换| in the original pictures a corner feature is found in a 10x10 window(w) Find the correspondence at (XR yR) centered at the Horizontal disparity=XL-XR left image(XL,yu (overlay a cross) Thestereosequencevideohttp://www.youtube.com/watch?veursyjokuils Stereo vO. aIntro. | Essential Mat. | Fundamental Mat. | Epipolar Geom. | Corresp. | Reconst. Example Assume cameras are aligned horizontally(No vertical motion of camera= no vertical disparity) • Stereo v0.a 7 Left image Right image Find the correspondence at (xR,yR) Horizontal disparity=XL -XR A corner feature is found in a 10x10 window (w) centered at the left image (xL ,yL ) (overlay a cross) White crosses are overlaid on images to show the positions of features. They are not in the original pictures. The stereo sequence video : http://www.youtube.com/watch?v=Ursyjokuils