Epipolar Geometry

• Epipolar geometry

 

The geometric relationship between matching pairs of images A and B in the stereo vision.

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• P : The point we're seeing with our eyes, 3D point which has world coordinate
• O1, O2 : The center of the camera
• Baseline : Line connecting O1, O2
• Epipolar plane : The plane connecting O1, O2 and P
• Image plane : The image obtained through camera O1, O2, I took a picture of P with two cameras with a center O1 and a camera with O2, and the P shown in those picture are called p and p'.
• Epipole : The intersection of image plane and baseline(e, e')
• Projection of points : Point on which P (three-dimensional point coordinates) are projected onto the image plane(p, p')
• Epipolar lines : The line where the epipolar plane and the image plane intersect(e-p and e'-p')

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• camera

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

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• long-focus lens

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

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• wide-angle lens

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

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• 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.

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• stereo camera

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

 

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https://darkpgmr.tistory.com/83