Computer Vision System Toolbox

Stereo Vision

Stereo vision is the process of reconstructing a 3D scene from two or more views of the scene. Using the system toolbox, you can:

• Perform uncalibrated stereo image rectification on a pair of stereo images
• Match individual pixels along epipolar lines to compute the disparity map
• Calculate the distance from the camera for each point in the disparity map using knowledge about the intrinsic parameters of the camera
• Backproject the disparity map with the original stereo images to create a 3D reconstruction of the scene

Reconstructing a scene using a pair of stereo images. To visualize the disparity, the right channel is combined with the left channel to create a composite (top left). A disparity map of the scene (top right) is then calculated by solving the point correspondence problem, and a 3D rendering of the scene (bottom) is reconstructed.

Stereo Image Rectification

Stereo image rectification transforms a pair of stereo images so that a corresponding point in one image can be found in the corresponding row in the other image. This process reduces the 2D stereo correspondence problem to a 1D problem, which simplifies the process of determining the depth of each point in the scene from the camera. You can rectify a pair of stereo images with the system toolbox by determining a set of matched interest points, estimating the fundamental matrix, and then deriving two projective transformations.

Results from stereo image rectification. Non overlapping areas are show in red and cyan.