Click a point in the left image: where can it be in the right one?
camera 2 moves sideways
camera 2 moves forward
camera 2 turns (yaw)
A small scene close by, or a big scene far away?
scale the whole world (scene and camera motion) by
Triangulation with noisy pixels: how precise is the depth?
depth Z of the point
baseline b
pixel noise σ
The 8-point algorithm with and without normalisation
normalised (Hartley, 1997)
raw pixel coordinates
Recovering the camera motion: 8-point vs 5-point
8-point, least squares on all matches
5-point inside RANSAC
5-point + local optimisation (USAC)
Bundle adjustment: 6 cameras, 300 points, 1,800 observations
▶ play
or drag:
iteration
estimate
truth
▲ cameras
Checkerboard calibration: how many views?