16
Depth Perception from Stereo
Simple Model:  Parallel Optic Axes
f
f
L
R
camera
baseline
camera
b
P=(x,z)
Z
X
image plane
xl
xr
z
z           x
f           xl
=
x-b
z           x-b
f            xr
=
z           y           y
f           yl          yr
=
=
y-axis is
perpendicular
to the page.