Epipolar Geometry for Trinocular Active Range-Sensors

摘要

The design of trinocular active range sensors is discussed. Such devices have theadvantage of freedom from mechanical scanning, and rapid image capture. The main technical problem is overcoming the correspondence problem. This requires careful geometric design to take account of epipolar geometry and thorough modeling of image measurement error. A design that, so far, seems to work well is presented. It involves setting up the projector-camera geometry to be degenerate, so that depth computation is ill-conditioned, and then backing off a little.