Negative disparity

1. Can disparity be negative?
2. What is disparity in an image?
3. What is the difference between disparity and depth?
4. What is disparity estimation?

Can disparity be negative?

Disparity is measured in pixels and can be positive or negative (conventions differ). It will vary across the image. For two close cameras, side by side and pointing in the same direction, matching points are roughly on the same row in each image — the disparity is horizontal.

What is disparity in an image?

The disparity image is one where the value of each pixel is inversely related to the distance between that point in the scene and the camera.

What is the difference between disparity and depth?

Disparity is the horizontal displacement of a point's projections between the left and the right image. Whereas, depth refers to the z coordinate (usually z) of a point located in the real 3D world (x, y, z).

What is disparity estimation?

Stereo matching or disparity estimation is the process of finding the pixels in the multiscopic views that correspond to the same 3D point in the scene. The rectified epipolar geometry simplifies this process of finding correspondences on the same epipolar line.