| Stereo reconstruction
pipeline |
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| Steps |
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| • | Calibrate cameras |
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| • | Rectify images |
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| • | Compute disparity |
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| • | Estimate depth |
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| What will cause errors? |
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| • | Camera
calibration errors |
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| • | Poor image
resolution |
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| • | Occlusions |
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| • | Violations of
brightness constancy (specular reflections) |
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| • | Large motions |
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| • | Low-contrast
image regions |
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