epiline, Epipole

• camera

- main components : optical devices, image sensors, image processors

 

• long-focus lens

For the front camera, use a large aperture to see as much as possible in the dark

 

• wide-angle lens

For the behind and beside camera, use a small aperture to accommodate as many objects as possible around the camera

 

• Stereo Vision

When you take an image through a camera, important information about the depth of the image is lost. In other words, it is converted from three-dimensional to two-imensional, so you don't know how far away each point in the image is from the position of the camera. 
Our eyes can be compared to two cameras, and the Vison area using two cameras is called stereo vision.

 

• stereo camera

The two mono cameras are configured to look in the same direction.

 

• Epipolar Geometry

It handles the geometric relationship between matching pairs of images A and B when images of the same object or scene are acquired at two different points.

P : the point of object

f : the distance between the cameras from the point 

OL, OR : the center of the camera

 

• epiline (or epipolar line)

- x’ : Different points on line OX are projected to different points (x') on the right image plane.

- l’ : A projection of another point on the line OX on the left constitutes one line (l') on the right image plane. This line is called the epiline corresponding to the point x. This means that to find the x point above the right image, you can find it along this epiline. It has to exist somewhere on this line.

- O, O’ : the center of the camera

 

• Epipole

The right camera O' is projected at point e in the left image. This point e is called an Epipole. Epipole is an intersection through the image plane and the center of the camera. Similarly, 'e' is the Epipole of the left camera.