Stereo vision

The above is a schematic illustration of stereo vision using parallax to accurately measure distance. As shown in Figure a, the simultaneous imaging of the scene by the left camera and the right camera has the same imaging principle as that of human eyes. In the imaging of the left eye and the right eye, the position of the same object is different. As shown in Figure b, if we compare the images of the right and left eyes, we can find that the position of the near object changes sharply between the right and right eyes, while the position of the distant object differs little between the right and right eyes.

This visual difference is what we call parallax, and the distance between each point in the world coordinate system and the stereo camera can be transformed by parallax.

The picture above is a schematic diagram of stereoscopic vision using parallax to accurately measure distance. As shown in Figure a, the left camera and the right camera are used to simultaneously image the scene, which is the same as the principle of human binocular imaging. In the left and right eye imaging, the position of the same object is different. As shown in Figure b, if we compare the left and right eye images, we will find that the position of nearby objects changes drastically between the left and right eyes, while the position difference of distant objects between the left and right eyes is small.

This visual difference is what we call parallax. The distance of each point in the world coordinate system from the stereo camera can be converted by parallax.