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From Images to Surfaces: A Computational Study of the Human Early Visual System
From Images to Surfaces: A Computational Study of the Human Early Visual System
Computer and Robot Vision
Computer Vision
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An alternative to the classic depth from stereo disparities is presented. In this new approach two scene points with different and finite depths are viewed by two identical cameras with parallel optic axes. Both the case of frontal views and of side views, where both cameras are rotated by the same angle is addressed. A simple construction for the vanishing point of the line connecting the two scene points is presented. Both for frontal views and side views it is shown that the relative scene depth of two points equals the reciprocal of the ratio of the image plane distances from the image points to the vanishing point of the line they define. For side views it is furthermore shown how the lens plane separation and ratios of image plane distances to vanishing points directly determine the absolute depths to the scene points. Neither camera focal length, image plane optic center, image coordinate scale nor coordinate disparities are used in the calculations of the absolute scene depths.