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Stereo and 3D Vision - University of Washington

3D from Stereo Images: Triangulation For stereo cameras with parallel optical axes, focal length f, baseline b, corresponding image points (xl,yl) and (xr,yr), the location of the 3D point can be derived from previous slide’s equations: Depth z = f*b / (xl - xr) = f*b/d x = xl*z/f or b + xr*z/f y = yl*z/f or yr*z/f This method of determining depth from disparity d is called triangulation ...

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Stereo Geometry Network (DSGN), which relies on space transformation from 2D features to an effective 3D struc-ture, called 3D geometric volume (3DGV). The insight behind 3DGV lies in the approach to con-struct the 3D volume that encodes 3D geometry. 3D geo-metric volume is defined in 3D world space, transformed from a plane-sweep volume (PSV) [10, 11] constructed in the camera frustum. The ...

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Most state-of-the-art 3D object detectors heavily rely on LiDAR sensors because there is a large performance gap between image-based and LiDAR-based methods. It is caused by the way to form representation for the prediction in 3D scenarios. Our method, called Deep Stereo Geometry Network (DSGN), significantly reduces this gap by detecting 3D objects on a differentiable volumetric ...

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Stereo geometry, with calibrated cameras If the stereo rig is calibrated, we know : how to rotate and translate camera reference frame 1 to get to camera reference frame 2. Rotation: 3 x 3 matrix R; translation: 3 vector T. 10/20/2009 25 Stereo geometry, with calibrated cameras If the stereo rig is calibrated, we know : how to rotate and translate camera reference frame 1 to get to camera ...

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