CS 223b Assignment 3: Review

1
CS 223b Assignment 3 Review

• Vaibhav Vaish

2
Epipolar Geometry
C
C

• From Multiple View Geometry, Hartley Zisserman,
  Pg. 211

3
Epipolar Geometry
C
C

• Epipolar line does not depend on depth!

4
Horizontal epipolar lines, disparity
C
C
5
Depth (Z) and Disparity (d)
(X,Y,Z)
xL
xR
C
f
B
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Three-camera Stereo
dL xL x0 dR xR x0
Show that dL - dR
7
Three-camera Stereo
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Finding Disparities
At disparity 0
9
Finding Disparities
At disparity 24
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For more information

• 2-view stereo
• http//cat.middlebury.edu/stereo/
• N-view stereo (N goes up to 363)
• http//vision.middlebury.edu/mview/
• Ripe for project material