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# Questions tagged [stereo-vision]

stereo vision is the extraction of 3D information from digital images, such as obtained by a CCD camera.

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### Drawbacks of image rectification for 3d reconstruction

When running 3d scene reconstruction algorithms using monocular camera systems you can choose to rectify each pair of images or do 3d reconstruction with unrectified pairs using epipolar geometry. ...
• 359
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### Calculate disparity for matching feature points

If I have matched a pair of feature points, could I calculate its disparity by simply subtract the u coordinates(uL - uR)? And could use this disparity to calculate the depth for this 3d point? ...
• 3
38 views

### RTABMAP with stereo cameras, mapping along the wrong axis, and odometry is all over the place

I"m trying to setup a robot to do stereo mapping with rtabmap, and depthai's Oak-D-Pro cameras. Mainly testing with gazebo at the moment. When I rotate the robot in gazebo the TF tree rotates ...
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### opencv StereoSGBM disparity parameters

In my setting I am using a stereo camera which has a baseline of b = 0.092m and a focal lenght in pixels of fx = 256.667. So that when I want to constrain my setup to detect points up to a maximum ...
97 views

### I am trying to use opencv_cam pkg in ros2 humble with a csi stereo camera imx219-83 in a jetson nano and I get green screen

I am trying to use opencv_cam in ros2 humble for a csi stereo cam in a jetson nano. When I run the node : ros2 run opencv_cam opencv_cam_main ,it publishes the ...
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### Estimating extrinsic parameters in stereo vision via sensors

I have multiple (around 6) cameras with a distance of around 4 meters to each other filming an object and I want to reconstruct the 3D shape of it. The cameras are attached to tripods and thus can be ...
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1 vote
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### How to compute estimated variance for each disparity value?

I am trying to implement the paper titled Free Space Computation Using Stochastic Occupancy Grids and Dynamic ProgrammingHerńan Badino, Uwe Franke, Rudolf Mester available at this link The overview (...
• 215
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### How to get an axis in camera coordinate system pybullet?

I am using pybullet to render a robot simulation. This robot have 2 joints and hence, 2 corresponding axes of rotation. I know that when I use getJointInfo on this ...
• 101
1 vote
234 views

### Making sense of disparity values after applying StereoSGBM from OpenCV

I just started with Kitty Stereo Dataset (2015). The first thing I did was compute the disparity using the stereoSGBM class. And here is the rectified input images ...
• 215
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When doing stereo based visual odometry and bundle adjustment how does the stereo constraint get factored into the photometric error? Do you use the fact the second cameras location is known wrt the ...
• 359
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### How does dense mapping/voxel occupancy grid map work with bundle adjustment?

When running for example some version of Orb Slam with stereo vision you're using sparse features for tracking but you can also infer a full depth map. I am curious how you use that full depth map to ...
• 359
1 vote
171 views

### Calculating the depth in a general stereo vision system

When calculating the depth of a pixel using two cameras, most of the literature I have read describes stereo vision with the cameras having parallel optical axis as shown in the picture below. Because ...
• 113
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### Uncontrolled drift of Visual Inertial Odometry

I'm trying to use the VINS-Fusion package to obtain odometry for a quadcopter. The primary sensor is an Intel Realsense D435i. I've calibrated the camera and IMU extrinsics using Kalibr. IMU ...
43 views

### How to find fundamental matrix based on other fundamental matrix and camera movement?

I am trying to speed up some multi-camera system that relies on calculation of fundamental matrices between each camera pair. Please notice the following is pseudocode. ...
• 101
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### Explanation of the epipolar constraint in stereo imaging

I am watching this video, in which the epipolar constraint is defined as $x_l \cdot (x_l \times t)=0$ It means that the vector $x_l$ that passes through the observed point and the left camera origin ...
• 101
1 vote
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### Setting up a Structured Light Stereo system

I am trying to get started with a stereo experiment and wanted to know the mistakes I might have made during the experiment. The goal is to calculate the depth map of an object using one light ...
2k views

### Trigger two usb cameras at the same time

I'm studyng stereo cameras, and I want to build one. I searched a lot in internet, and the opinions are quite different about this topic. Basically, my question is: Can I synchronize two usb ...
16 views

### How to set tag arguments of stereo camera plugin (libgazebo_ros_multicamera.so)?

I have some questions about how to use "libgazebo_ros_multicamera.so" plugin. what does tag arguments mean ? Some arguments are both set in and , for example distortion arguments like , ...
1 vote
216 views

### Stereo vision setup to obtain depth map

I am currently working on a project that requires me to obtain depth information and point cloud map of objects in an indoor environment ( roughly twice the size of a normal room). I would like to ...
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1 vote
150 views

### Camera calibration sequence with ground truth data

I'm looking for a SLAM dataset (monocular or stereo) specifically with a checkerboard, meaning the camera always has a checkerboard in frame. Most popular datasets provide calibration sequences, ...
• 111
1 vote
280 views

### Depth sensing for a pick-and-place robot

I am supposed to design a pick-and-place robot. I have a prismatic joint to go down to a particular depth to pick an object which is located in 2D using computer vision. What is the recommended way to ...
1 vote
104 views

### Accuracy of stereovision camera

I want to use stereovision to get 3D coordinates of a point in the camera's frame. Let's say, I can zoom in and click in the image to select my point of interest. I want an accuracy of about 0.05 - 0....
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### Effectiveness of visual odometry algorithms (CPU usage)

My robot needs to obtain visual odometry, with a condition that the used algorithm has to have as low computational requirements as possible and the used camera/sensor shouldn't be very expensive. The ...
• 121
1 vote
575 views

### Forward monocular stereo vision (Structure from Motion)

I am looking for a library (or algorithm) that computes 3D scene (point cloud) from 2 consecutive images of a monocular sequence. I mean something like OpenSfM but only for 2 consecutive frames and ...
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### Correct calibration parameters of stereo system due to vibrations

In stereo vision, the camera is calibrated using the popular chessboard before use. During the course of use, the camera maybe be subject to environmental factors such as vibrations.This may cause ...
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