Estimate the accuracy of the simple stereo system (Figure 3) assuming that the only source of noise is the localization of corresponding points in the two images. Discuss the dependence of the error in depth estimation as a function of disparity error, depth itself, the baseline width and the focal length, respectively. Hint: Z = fB/d; Take the partial derivatives of Z with respect to d, B, f,  respectively.

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  1. Estimate the accuracy of the simple stereo system (Figure 3) assuming that the only source of noise is the localization of corresponding points in the two images. Discuss the dependence of the error in depth estimation as a function of disparity error, depth itself, the baseline width and the focal length, respectively.

Hint: Z = fB/d; Take the partial derivatives of Z with respect to d, B, f,  respectively.

Stereo system with
parallel optical axes
Image plane
f = focal length
P₁(x₁, y₁)
Optical Center O₁
LEFT CAMERA
P(X,Y,Z)
Depth
|Z =D=f=
B
B = Baseline
pr(x,y)
Disparity:
d = x₁ - X₁
Image plane
f = focal length
Optical Center O,
RIGHT CAMERA
Figure 3. Stereo vision geometry (redraw the figure so P will not be right in the middle)
Transcribed Image Text:Stereo system with parallel optical axes Image plane f = focal length P₁(x₁, y₁) Optical Center O₁ LEFT CAMERA P(X,Y,Z) Depth |Z =D=f= B B = Baseline pr(x,y) Disparity: d = x₁ - X₁ Image plane f = focal length Optical Center O, RIGHT CAMERA Figure 3. Stereo vision geometry (redraw the figure so P will not be right in the middle)
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