Learning depth from stereo

1. What is stereo depth estimation?
2. How to do depth estimation?
3. What is stereo vision algorithm?
4. What is disparity CV?

What is stereo depth estimation?

Depth estimation in computer vision and robotics is most commonly done via stereo vision (stereop- sis), in which images from two cameras are used to triangulate and estimate distances. However, there are also numerous monocular visual cues— such as texture variations and gradients, defocus, color/haze, etc.

How to do depth estimation?

Depth estimation is a crucial step towards inferring scene geometry from 2D images. The goal in monocular depth estimation is to predict the depth value of each pixel or inferring depth information, given only a single RGB image as input.

What is stereo vision algorithm?

Stereovision images are processed using a machine vision algorithm that actively determines the position of a localized spherical fiducial with respect to the robot's TCP. From: Handbook of Robotic and Image-Guided Surgery, 2020.

What is disparity CV?

disparity = x - x' = \fracBfZ x and x' are the distance between points in image plane corresponding to the scene point 3D and their camera center. B is the distance between two cameras (which we know) and f is the focal length of camera (already known).