Binocular stereo vision model

Binocular stereo vision is based on the principle of parallax, which can obtain three-dimensional geometric information from multiple images. In the machine vision system, two digital images of the surrounding scenery are obtained from different angles by two cameras, or two digital images of the surrounding scenery are obtained from different angles by a single camera at different times. Based on the parallax principle, three-dimensional geometric information of the object can be recovered and the three-dimensional shape and position of the surrounding scenery can be reconstructed. 

           The principle of triangulation is used to obtain three-dimensional information, that is, a triangle is formed between the image plane of two cameras and the measured object. By knowing the position relationship between the two cameras and the coordinates of the object in the left and right images, the three-dimensional dimensions of the object in the common field of view of the two cameras and the three-dimensional coordinates of the feature points of the space object can be obtained. Therefore, the binocular vision system is generally composed of two cameras. 

           Binocular horizontal stereogram 

           The central line of the two lenses is called the baseline of the system. The camera coordinate system and the world coordinate system coincide. The image plane and the XY of the world coordinate system are parallel. 

           Top view 

           The equation can be obtained:

            It is found that the parallax (XL XRS) is inversely proportional to the depth (z) 

           You can take a pen and put it in front of your eyes. If you open and close your eyes alternately, you will find that the position of the pen changes a lot (that is, the parallax is very large). If you put the pen away, you will find that the position of the pen changes a little (that is, the depth becomes larger -- > the parallax becomes smaller) 

           The world coordinates of P are (x / W, Y / W, Z / W) 

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            Link to this article: https://blog.csdn.net/qq_/article/details/81177192