User manual
Table Of Contents
- Introduction
- Getting started with smallv
- Stereo Geometry
- Calibration
- API Reference – C++ Language
Small Vision System User Manual 5
1 Introduction
The SRI Stereo Engine is an efficient realization of an area correlation algorithm for computing range
from stereo images. Figure 1 shows the results of running the algorithm on a typical scene. The image on
the top left is the left image of an original stereo pair, while the one on the top right is a disparity image
computed from the stereo pair. In the disparity images, brighter pixels show where the projection of an
object diverges between the images (has a high disparity). These are areas that are closer to the cameras.
Dark areas have lower disparity, and are further away. Finally, the bottom right shows a view of the 3D
reconstruction made from the disparity image.
Figure 1-1. An input image and the resultant stereo disparity image. Brighter areas are closer to the
camera.