Stereo Vision
Stanford University School of Engineering
Department of Mechanical Engineering
XX February 2000
p (unknown depth and position)
f
B
depth
Depth vs. disparity sensitivity:
Example: Z = 1m = 1000mm (varies)
f = 3cm = 30mm
B = 10cm = 100mm
In Sony XC-75 approx 100 pixels/mm
deltaZ = deltaD * 333
for 1 pixel
deltaD = 1 pixel * (1mm/100pixels)
deltaZ = .01*333 = 3.33mm/pixel
for Z = 1m only!
Z
Problem #2: Depth accuracy sensitivity
Geometry behind the process
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