# 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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### Essential Matrix constraint violated, computed using numerical libraries only

Lets say that I have eight pairs of correspondance points taken from two images (left and right). Also, I know the intrinsic matrix (K) of both cameras (is the same). I'm trying to find the Essential ...
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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 ...
18 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 ...
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• 111
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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 ...
1k 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 ...
1 vote
202 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
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### 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
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### 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
84 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 ...
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1 vote
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### 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 ...
• 273
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### setup requirement of stereo camera

In the stereo camera system, two cameras are needed and should be mounted side by side. I see someone just glues two cameras to a wooden board. However one mobile phone manufacture claimed that the ...
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### Effect of camera misalignment errors in dual cameras

In the camera module assembly process, parameters of camera modules vary due to manufacturing tolerance. Camera calibration is performed to obtain actual parameters. In the paper Effects of camera ...
• 273
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### Is there a better way to deal with untextured regions in stereo matching

Texture is very helpful for stereo matching. However in real environment, untextured areas always exit. Consistent semi-global matching is proposed to deal with untextured regions. I start to read the ...
• 273
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### Google's 'Tango' - How it works and what's special about the hardware?

I'm looking for a good breakdown and explanation of Google's 'Tango' AR platform. Specifically how the hardware works together to generate depth maps and the SDK's use of it. I know the hardware ...
• 153
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### Using Standard Digital camera for Computer Vision

For a University project I have to use computer vision to detect small drones within 40 feet. I know there exists a pixycam for this purpose, but I was not happy with it, when I used it for CV. I ...
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### Camera selection for long range stereo vision system (up to 100 meters)

I want to implement a real-time stereo vision system for long range (up to 100m) depth estimation. I know that there are some general considerations as described in this SOV post. I have seen some ...
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### real-time stereo vision system for long range (up to 100m) depth estimation

I want to implement a FPGA-based real-time stereo vision system for long range (up to 100m) depth estimation. Also, I want to use two ip cameras in the system. I have calculated depth error using the ...
• 191
7k views

### Estimate Disparity Error for Depth Accuracy Estimation

I would like to get a rough estimate of the depth accuracy / uncertainty of a stereo camera system. For this I would like to use the basic formula in the attached image. What is still unclear to me is ...
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1 vote
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### Scaling monocular SLAM with another source?

I have implemented a stable monocular slam tracking system, based on ORBSLAM2. I am trying to find a way to add real-world distance/scale to this. At the same time, I am running a (less stable) ...
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### Why are two cameras mounted in paralle in stereo application?

For stereo cameras on the market, two cameras are always mounted side by side and with a displacement that is perpendicular to the cameras’ optical axes. I take this setup for granted. One idea came ...
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### What is the effect that the size of the correlation window (in pixels) has on the matching performance of stereo algorithms?

While stereo algorithms perform matching, they usually compare pixels within a region around the feature. I would like to know what effect the size of that search window has on the matching ...
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1 vote