立体视觉笔记

什么是立体视觉(stereo vision)？

stereo vision 是一种旨在从两个或多个相机推断深度的技术，是计算机视觉的广泛研究课题，本文关注：

• binocular(双目的) stereo vision systems
• dense stereo algorithms
• stereo vision applications

Emphasis(重点) is on approaches that are (or might be hopefully soon) feasible(可行的) for real-time/hardware implementation

This occurs for each point along the same line of sight
• Useful for optical illusions

With two (or more) cameras we can infer depth, by means of triangulation, if we are able to find corresponding (homologous) points in the two images

epipolar constraint

Consider two points P and Q on the same line of sight of the reference image R (both points project into the same image point p≡q on image plane π R of the reference image)

Once we know that the search space for corresponding points can be narrowed from 2D to 1D, we can put (virtually) the stereo rig in a more convenient configuration (standard form) - corresponding points are constrained on the same image scanline

it is typically encoded with greyscale image (closer points are brighter
(Horopter)

http://vision.deis.unibo.it/~smatt/Site/Home.html

https://www.cnblogs.com/chesstime/p/17340691.html

学习资料：

视差、深度概念及其转换
立体视觉之立体匹配理论与实战
立体匹配

可能有用的链接：

1. 使用python对深度图进行预处理
2. cv2.convertScaleAbs()函数
3. 深度图为彩色图

gitlab: huyuzhen hyzqwer1234

Fittecode: 18811373813 hyz123

使用python 实现立体匹配

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