1. 제 5 장 스테레오

2. Stereo
Many slides adapted from Steve Seitz

3. Simplest Case: Parallel images
Image planes of cameras are parallel to each other and to the baseline
Camera centers are at same height
Focal lengths are the same

4. Binocular stereo
Given a calibrated binocular stereo pair, fuse it to produce a depth image
image 1
image 2
Dense depth map

5. Basic stereo matching algorithm
For each pixel in the first image
Find corresponding epipolar line in the right image
Examine all pixels on the epipolar line and pick the best match
Triangulate the matches to get depth information
Simplest case: epipolar lines are scanlines
When does this happen?

6. Correspondence search
Left
Right
scanline
Matching cost
disparity
Slide a window along the right scanline and compare contents of that window with the reference window in the left image
Matching cost: SSD or normalized correlation

7. Active stereo with structured light
Project “structured” light patterns onto the object
Simplifies the correspondence problem
Allows us to use only one camera
camera
projector
L. Zhang, B. Curless, and S. M. Seitz. Rapid Shape Acquisition Using Color Structured Light and Multi-pass Dynamic Programming. 3DPVT 2002

8. Active stereo with structured light
L. Zhang, B. Curless, and S. M. Seitz. Rapid Shape Acquisition Using Color Structured Light and Multi-pass Dynamic Programming. 3DPVT 2002

9. Active stereo with structured light

10. Kinect: Structured infrared light

11. Digital Michelangelo Project
Laser scanning
Digital Michelangelo Project
Levoy et al.
Optical triangulation
Project a single stripe of laser light
Scan it across the surface of the object
This is a very precise version of structured light scanning
Source: S. Seitz

12. The Digital Michelangelo Project, Levoy et al.
Laser scanned models
The Digital Michelangelo Project, Levoy et al.
Source: S. Seitz

13. Multi-view stereo
Many slides adapted from S. Seitz

14. Multiple-baseline stereo results
M. Okutomi and T. Kanade, “A Multiple-Baseline Stereo System,” IEEE Trans. on Pattern Analysis and Machine Intelligence, 15(4): (1993).

15. 3D Display

16. Two Types of 3D Display

17. Stereoscopic

18. Stereoscopic

19. Stereoscopic

20. Stereoscopic

21. Autostereoscopic

22. Autostereoscopic

23. Autostereoscopic

24. Autostereoscopic

25. Holographic

26. Camera model

27. Camera model

28. Intermediate view reconstruction