Chapter 11. Stereo Vision and 3D Reconstruction

In this chapter, we are going to learn about stereo vision and how we can reconstruct the 3D map of a scene. We will discuss epipolar geometry, depth maps, and 3D reconstruction. We will learn how to extract 3D information from stereo images and build a point cloud.

By the end of this chapter, you will know:

  • What is stereo correspondence
  • What is epipolar geometry
  • What is a depth map
  • How to extract 3D information
  • How to build and visualize the 3D map of a given scene

What is stereo correspondence?

When we capture images, we project the 3D world around us on a 2D image plane. So technically, we only have 2D information when we capture those photos. Since all the objects in that scene are projected onto a flat ...

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