Stereo Vision Configuration and Accuracy

Stereo VisionConfiguration andAccuracy

1Hauraki Gulf, Jan 14, 2009

General Configuration

2

Optical axes •Meet at fixation point, P•Have angle between them•CFoV has arbitrary shape

Canonical Configuration

3

Baseline

(Half)Angular FoV

Closest point of CFoV

Scene object

FoV(single camera)

Image of scene object

Optical centres

Field of view – Verging axis

4

(Half)Angular FoV

Scene objectFoV(single camera)

Optical centre

Common Field of View – Verging axes

5

Fixationpoint Limit of CFoV

= 0 = 2 > 2

(Canonical config)

Veith-Muller Circle

6

Figure 5

Object placement

7

Object of extent, az > Zmin

-2 < < 2 2 < <

Object of extent, az > Zmin and z < Za

max

Depth AccuracyCanonical configuration

8

Points at intersections imaged onto centres of pixels in L and R images

Optimal object location

9

Depth resolution vs distance

Optimum baseline,b a

Canonical Configuration

10

Disparity,Extent of CFoVDepth resolution

vs z