Theory of Reconstruction from Image Motion
Theory of Reconstruction from Image Motion
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
Probabilistic regularisation and symmetry in binocular dynamic programming stereo
Pattern Recognition Letters - In memory of Professor E.S. Gelsema
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Real Time Rectification for Stereo Correspondence
CSE '09 Proceedings of the 2009 International Conference on Computational Science and Engineering - Volume 02
Salmon: Precise 3D Contours in Real Time
DASC '09 Proceedings of the 2009 Eighth IEEE International Conference on Dependable, Autonomic and Secure Computing
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Conventional stereophotogrammetry uses a canonical configuration in which the optical axes of both cameras are parallel. However, if we follow lessons from evolution and swivel the cameras so that their axes intersect in a fixation point, then we obtain considerably better depth resolution. We modified our real-time stereo hardware to handle verging axis configurations and show that the predicted depth resolution is practically obtainable. We compare two techniques for rectifying images for verging configurations. Bouguet's technique gives a simpler geometry - the iso-disparity lines are straight and the familiar reciprocal relationship between depth and disparity may still be used. However when the iso-disparity lines are the Veith-Muller circles, slightly better depth resolution may be obtained in the periphery of the field of view - at the expense of a more complex conversion from disparity to depth.