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Erschienen in:
2016 | OriginalPaper | Buchkapitel
4. Triangulation
verfasst von : Kenichi Kanatani, Yasuyuki Sugaya, Yasushi Kanazawa
Erschienen in: Guide to 3D Vision Computation
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Abstract
This chapter describes the principles and computational procedures for triangulation that compute the 3D position of the point determined by a given pair of corresponding points over two images, using the knowledge of the positions, orientations, and internal parameters of the two cameras, which are specified by their camera matrices. First, we illustrate the geometry of perspective projection and describe the procedure for optimally correcting the corresponding point pair so that the associated lines of sight intersect in the scene, considering the statistical properties of image noise. This turns out to be closely related to the optimal fundamental matrix computation described in the preceding chapter.