Intersection ma

摘要

Abstract: Stereo vision triangulation methods are used for three- dimensional measurements in conjunction with robot guidance and machine inspection applications. Understanding the computational geometry associated with stereo imaging, gives insight into the accuracy that can be obtained and into the surface types best inspected by such systems. The purpose of this paper is to discuss the shape of the triangulation space arising from stereo imaging for flexible stereo camera configurations. It is shown that the points of intersecting views arising from a stereo pinhole configuration form conic sections, which are a function of the disparity between the pixels in the two images. The significance of this work is that it provides a basis for improved quantitative and qualitative understanding of stereo vision.!10