User manual

Small Vision System User Manual 4
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 is the left image of an original stereo pair, while the one on the bottom 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.
Figure 1-1. An input image and the resultant stereo
disparity image. Brighter areas are closer to the
camera.