2. Stereovision

2.1 Measurement principle

Stereoscopic depth imaging comprises four steps:

1. geometric calibration of the stereoscopic system ;

2. image rectification ;

3. the matching of image elements corresponding to the same 3D point between the two views, which amounts to estimating parallax;

4. 3D triangulation of the scene.

Here, we're looking at stereoscopy in the so-called rectified configuration, in which the two cameras are identical and positioned next to each other so that their image planes coincide. This configuration, shown in figure 6...