Depth Mapping Algorithm Performance Analysis: Difference between revisions
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Depth information about a scene can be captured using a stereo camera (2 cameras that are separated horizontally but aligned vertically). The stereo image pair taken by the stereo camera contains this depth information in the horizontal differences (when comparing the stereo image pair, objects closer to the camera will be more horizontally displaced). These differences (also called disparities) can be used to determine the relative distance from the camera for different objects in the scene. In order to extract this depth information, the stereo image pair must first be rectified (i.e. the images must be transformed in some way such that the only differences that remain are horizontal differences corresponding to the distance of the object from the camera. | Depth information about a scene can be captured using a stereo camera (2 cameras that are separated horizontally but aligned vertically). The stereo image pair taken by the stereo camera contains this depth information in the horizontal differences (when comparing the stereo image pair, objects closer to the camera will be more horizontally displaced). These differences (also called disparities) can be used to determine the relative distance from the camera for different objects in the scene. In order to extract this depth information, the stereo image pair must first be rectified (i.e. the images must be transformed in some way such that the only differences that remain are horizontal differences corresponding to the distance of the object from the camera. | ||
[[File:background_stereo.png|600px|Figure 1]] | [[File:background_stereo.png|thumb|center|600px|Figure 1]] | ||
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<math>x - x' = \frac{Bf}{z}</math> | <math>x - x' = \frac{Bf}{z}</math> | ||
[[File:background_BfZ.png|200px]] | [[File:background_BfZ.png|thumb|center|200px|Figure 2]] | ||
== Methods == | == Methods == | ||
Revision as of 02:10, 15 December 2017
Introduction
We will implement various disparity estimation algorithms and compare their performance.
Background
Disparity and Depth
Depth information about a scene can be captured using a stereo camera (2 cameras that are separated horizontally but aligned vertically). The stereo image pair taken by the stereo camera contains this depth information in the horizontal differences (when comparing the stereo image pair, objects closer to the camera will be more horizontally displaced). These differences (also called disparities) can be used to determine the relative distance from the camera for different objects in the scene. In order to extract this depth information, the stereo image pair must first be rectified (i.e. the images must be transformed in some way such that the only differences that remain are horizontal differences corresponding to the distance of the object from the camera.
Relationship Between Disparity and Depth
Disparity and depth can be related by the following equation (where x-x' is disparity, z is depth, f is the focal length, and B is the interocular distance). !!!!!!!!!!!!OSCAR WRITE STUFF HERE!!!!!!!!!!!!!!!!!!!!!!
Methods
Results
Conclusions
Appendix
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