1	Announcements Project 2 code & artifact due Friday Midterm out tomorrow (check your email), due next Fri
2	Stereo Readings Trucco & Verri, Chapter 7 Read through 7.1, 7.2.1, 7.2.2, 7.3.1, 7.3.2, 7.3.7 and 7.4, 7.4.1. The rest is optional.
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8	Anaglyphs online I used to maintain of list of sites, but too hard to keep up to date. Instead, see wikipedia page: http://en.wikipedia.org/wiki/Anaglyph_image
9	Stereo
10	Stereo
11	Stereo correspondence Determine Pixel Correspondence Pairs of points that correspond to same scene point
12	Stereo image rectification
13	Stereo image rectification reproject image planes onto a common plane parallel to the line between optical centers pixel motion is horizontal after this transformation two homographies (3x3 transform), one for each input image reprojection C. Loop and Z. Zhang. Computing Rectifying Homographies for Stereo Vision. IEEE Conf. Computer Vision and Pattern Recognition, 1999.
14	Stereo matching algorithms Match Pixels in Conjugate Epipolar Lines Assume brightness constancy This is a tough problem Numerous approaches A good survey and evaluation: http://www.middlebury.edu/stereo/
15	Your basic stereo algorithm
16	Window size Smaller window Larger window
17	Stereo results Data from University of Tsukuba Similar results on other images without ground truth
18	Results with window search
19	Better methods exist...
20	Stereo as energy minimization
21	Stereo as energy minimization
22	Depth from disparity
23	Video View Interpolation http://research.microsoft.com/users/larryz/videoviewinterpolation.htm
24	Real-time stereo Used for robot navigation (and other tasks) Several software-based real-time stereo techniques have been developed (most based on simple discrete search)
25	Stereo reconstruction pipeline Steps Calibrate cameras Rectify images Compute disparity Estimate depth
26	Active stereo with structured light Project “structured” light patterns onto the object simplifies the correspondence problem
27	Active stereo with structured light
28	Laser scanning Optical triangulation Project a single stripe of laser light Scan it across the surface of the object This is a very precise version of structured light scanning
29	Laser scanned models
30	Laser scanned models
31	Laser scanned models
32	Laser scanned models
33	Laser scanned models
34	Spacetime Stereo