立体视觉中求对应点的解

Discussions on the Solution of Corresponding Points in Stereo Vision

从讨论物体表面的特性出发，研究了立体视觉中可匹配点存在的集合以及唯一匹配问题，指出了可匹配点集与成象系统焦点位置及其物体表面法线之间的关系，证明了空间曲线在两幅图象上投影的弧长之比和变形的物理特性．通过探讨灰度分布与对应点之间的关系，发现当视觉模型中两个焦点之间的距离为一阶小量时，左右图象上对应点处的灰度相关，由此得出了图象匹配中解存在并唯一的条件．

This paper discusses the existence and uniqueness of matching set in stereo vision from the properties of an imaged object surface. The relations among the matching set, the positions of focuses and the normal of the object surface are established. For the projections on the left and right images of a space curve, the features about their ratio of arc length and deformation are studied. From the relation between gray function and corresponding points, it is discovered that the gray values at corresponding points are correlative when the distance between the two focuses of the vision model is first order infinitesimal. And the conditions of existence and uniqueness in image matching are obtained.