Page 254 - Introduction to AI Robotics
P. 254

6.7 Range from Vision
                                                              scene                                   237




                                                      Find interest points
                                                         in one image



                                                           Matching                epipolar plane




                                                          Depth map



                                       Figure 6.24  A simplified flow of operations in extracting range from a stereo pair.


































                                      Figure 6.25 A set of stereo images from a Triclops stereo camera and resulting depth
                                      map. (Images courtesy of Chandra Kambhamettu.)
   249   250   251   252   253   254   255   256   257   258   259