Stereo-Vision Algorithm

Dhaval Patel

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 Outline
Introduction

Basic Principle

Methodology

Conclusion

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 Introduction
• Process of recovering depth from camera
image by comparing two or more views of the
same scene.
• Taken with two cameras separated by specific
distance.
• Output will be disparity map(Which is
translatable to a range image) which exhibits
how far each point in the physical scene.

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 Technique
• Take two Images
• Find Region of interest(ROI)
• Apply appropriate algorithm to find Depth map
• Construct 3D image

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 Literature
• Kristiaan Schreve “How Accurate can a Stereovision
Measurement Be?” 15th International Workshop on
Research and Education in Mechatronics (REM),
Elgouna, Egypt, September 9-11, 2014
• M.A. Mahammed, A.I. Melhum and F.A. Kochery,
“Object Distance Measurement by Stereo Vision”,
International Journal of Science and Applied
Information Technology, vol. 2, no. 2, 2013, pp. 5-8.
• A. Bhatia, P. Ghosh and K.S. Venkatesh, “Multistereo
system design”,IEEE Second International Conference
on Image Information Processing(ICIIP), 2013, pp. 148-
153.
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 Basic Principle
• Shooting and transmitting images in
Stereoscopic 3D is an attempt to replicate what
we see with our own two eyes.
– Stereoscopic: Concerned with, or relating to,
seeing space three-dimensionally as a result
of binocular disparity.
– 3D: Having height, width and depth

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 Parameters

Inter-axial

Convergence

3D Space

Screen Parallax

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Interaxial
• The distance between the
left and right camera is
called the ‘interaxial’.
• By adjusting the interaxial
distance between
cameras , we are able to
dynamically increase and
decrease the depth in a
scene.
• The wider the interaxial,
the more depth we
capture
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Convergence
• The convergence point
determines where the
object appears in relation
to the screen.
• Convergence can be
adjusted by toeing-in (an
inwardly-angled
adjustment) of the
cameras or by horizontal
image translation (H.I.T)
in post-production.

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3D Space
• Simultaneously
manipulating both the
convergence and the
interaxial gives control
over the depth, and the
placement of objects
within that 3D space.

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Screen Parallax
• Parallax refers to the separation of the left and
right images on the display screen.

Positive Parallax Zero Parallax Negative Parallax

• Objects appear • Objects appear • Objects appear

behind the at the screen in front of the
screen. plane. screen.
• The image is • The left eye and • The image is
shifted to the right eye image shifted to the
left for the left are in the same right for the left
eye and to the position on the eye and to the
right for the screen. left for the right
right eye eye.
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 Methodology

Take Images

Apply Algorithms

Comparison

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 Different
algorithms
Block Matching
• Standard Algorithm for high speed stereo
vision
Sub-Pixel
• Improve result in considerable amount
Dynamic Programming
• Improve accuracy
Image pyramid
• Improve Speed
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 Results
Right image Left image

Color composite (right=red, left=cyan)

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 Results
Depth map from basic block matching Basic block matching with sub-pixel accuracy
Four-level pyramid block
15 matching 15

15
10 10

3-level pyramid with dynamic programming

5 5

10
0 0

Block matching with dynamic programming Four-level pyramid block matching

15 15

5
10 10

5 5

0
0
0

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 Results

2 1.5

1
1
0.5

y (meters)
y (meters)

0 0

-0.5
-1 -1

-1.5
-2
-2

-7
-6
-5 -6
-2 -3 -4
-4 0 -1 -2 -3
-3 2 1 2 1 0 -1
3
z (meters) x (meters) z (meters) x (meters)

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 Conclusion
• Get improve Result But Not enough
• Depends not only Algorithms Camera’s parameters
also has to be chose properly

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 Thank you

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