Stereoscopic vision is a method of acquiring three-dimensional geometric information of an object by a plurality of images (generally two). In a computer vision system, we can also use two cameras to simultaneously obtain two digital images of the surrounding scene from different angles, and then use a certain method to reconstruct the three-dimensional shape and position of the surrounding scene around the computer.
The meaning of three-dimensional reconstruction is to establish a correspondence between two images. When this correspondence is asked, there is an important constraint condition that reduces the range of searches with a certain constraint relationship. The reconstruction of the European geometry, that is, the stereoscopic approach to the usual sense, too much condition (such as strict camera is scheduled), so there is a rebuilt in the shortcomings of the shooting (Tang: here, I have no research) .
Getting a three-dimensional visual approach (3D reconstruction based on the point) is the most basic and simpler.
In the following discussion, we assume that the spatial point P on the image points P1 and P2 of the two cameras C1 and C2 have been detected from the two images, and also assume that the C1 and C2 cameras have calmered, their projections The matrices are M1 and M2, respectively. So there is:
The above formula can get the following formula by derivation, at this time, it is possible to use the least squares.
