Christian Menard. Robust Stereo and Adaptive Matching in Correlation Scale-Space. PhD thesis, Institute of Automation, Vienna University of Technology, January 1997.  Home/Search   Document Details and Download   Summary   Related Articles

....9 3.1.2 Constraints in Stereo Vision There are no global rules for finding corresponding point in a stereo pair in general. Each stereo algorithm uses several assumptions about the image geometry or about the objects in the scene. An overview of the constraints in stereo vision is given (see also [Men97] or [Fau93] in the following paragraphs. Epipolar constraint Generally, for a given point in the left image the search for a corresponding point in the right image has to be made over the complete image. Such as two dimensional search is not necessary when using the epipolar constraint. For a ....

....fi sin ff sin fl sin ff Gamma cos fl sin fi cos ff Gamma sin fl cos fi cos fl cos ff Gamma sin fl sin fi sin ff cos fl sin ff sin fl sin fi cos ff sin fi Gamma cos fi sin ff cos fi cos ff 1 A : 3. 2) The more detailed description of the geometry of the pinhole camera consult [Fau93] [Men97]. The third item mentioned above is the transformation from the robot coordinate system to the world coordinate system. The camera is mounted on CHAPTER 3. STATE OF THE ART 21 the robot arm with certain offset (both translation and rotation) in the robot coordinate system. Knowledge of this ....

Christian Menard. Robust Stereo and Adaptive Matching in Correlation Scale-Space. PhD thesis, Institute of Automation, Vienna University of Technology, January 1997.

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