1. CS 223b Assignment 3: Review Vaibhav Vaish

2. Epipolar Geometry From Multiple View Geometry, Hartley & Zisserman, Pg. 211 CC’C’

3. Epipolar Geometry Epipolar line does not depend on depth! CC’C’

4. Horizontal epipolar lines, disparity CC’C’ xLxL xRxR

5. Depth (Z) and Disparity (d) C xLxL xRxR f B (X,Y,Z) Z X

6. Three-camera Stereo Show that d L = - d R d L = x L – x 0 d R = x R – x 0

7. Three-camera Stereo

8. Finding Disparities At disparity = 0

9. Finding Disparities At disparity = 24

10. For more information … 2-view stereo – http://cat.middlebury.edu/stereo/ http://cat.middlebury.edu/stereo/ N-view stereo (N goes up to 363) – http://vision.middlebury.edu/mview/ http://vision.middlebury.edu/mview/ Ripe for project material