1 CS332 Visual Processing Department of Computer Science Wellesley College Binocular Stereo Vision Stereo viewing geometry and the stereo correspondence problem 1-2 Stereo viewing geometry LEFT RIGHT LEFT RIGHT + - positive disparity Æ in front of point of fixation negative disparity Æ behind fixation point 2 1-3 Stereo viewing geometry LEFT RIGHT LEFT RIGHT larger disparity Æ further away from fixation point zero disparity 1-4 The horopter Vieth-Muller circle points on the horopter have zero disparity 3 1-5 Results of stereo processing Left Image Right Image Davi Geiger 1-6 Stereo process: . extract features from the left and right images, whose disparity we want to measure . match the left and right image features and measure their disparity in position . use stereo disparity to compute depth "stereo correspondence problem" 4 1-7 Random-dot stereograms . Bela Julesz, 1971 . stereo system can fun...