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In computer vision, triangulation refers to the process of determining a point in 3D space given its projections onto two, or more, images. In order to solve this problem it is necessary to know the parameters of the camera projection function from 3D to 2D for the cameras involved, in the simplest case represented by the camera matrices .
Structure from motion (SfM) [1] is a photogrammetric range imaging technique for estimating three-dimensional structures from two-dimensional image sequences that may be coupled with local motion signals. It is studied in the fields of computer vision and visual perception.
In photogrammetry and computer stereo vision, bundle adjustment is simultaneous refining of the 3D coordinates describing the scene geometry, the parameters of the relative motion, and the optical characteristics of the camera(s) employed to acquire the images, given a set of images depicting a number of 3D points from different viewpoints.
Diagram describing relationship of image displacement to depth with stereoscopic images, assuming flat co-planar images. A pixel records color at a position. The position is identified by position in the grid of pixels (x, y) and depth to the pixel z. Stereoscopic vision gives two images of the same scene, from different positions.
Given a group of 3D points viewed by N cameras with matrices {} = …, define to be the homogeneous coordinates of the projection of the point onto the camera. The reconstruction problem can be changed to: given the group of pixel coordinates {}, find the corresponding set of camera matrices {} and the scene structure {} such that
Epipolar constraint and triangulation. If the relative position of the two cameras is known, this leads to two important observations: ... Visual motion of curves and ...
Low altitude aerial photograph for use in photogrammetry. Location: Three Arch Bay, Laguna Beach, California. Photogrammetry is the science and technology of obtaining reliable information about physical objects and the environment through the process of recording, measuring and interpreting photographic images and patterns of electromagnetic radiant imagery and other phenomena.
The following picture provides a simple schematic diagram of horizontally sighted Binocular Stereo Vision, where b is the baseline between projective centers of two cameras. Geometry of a stereoscopic system. The origin of the camera's coordinate system is at the optical center of the camera's lens as shown in the figure.