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Ivan I. Ovchinnikov 2023-02-27 19:21:27 +03:00
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04-videostream-object-parameter-recognition-algorithms.tex
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@ -226,22 +226,35 @@ $A$ -- не чёткое изображение, на рисунке -- гран
Основная задача -- поиск точек, подверженных гомографии. Такой поиск называется схема RANSAC.
\section{Стереозрение}
эпиполярная геометрия
Основано на разделе под названием эпиполярная геометрия.
берём две камеры, смотрим их углы обзора.
(1)
d -- стереобаза
берём две камеры, замеряем их углы обзора.
\begin{figure}[H]
\centering
\fontsize{12}{1}\selectfont
\includesvg[scale=1.01]{pics/04-vora-00-stereobase.svg}
\end{figure}
d -- стереобаза (расстояние между двумя камерами)
\[ r = \frac{f(x_1-x_2)}{d} \]
Преимущество в лёгкости, недостаток в сложности настройки подобной системы (две абсолютно идентичные камеры будут всё равно иметь свои искажения, углы зрения и так далее). Частоты камер могут не совпадать. Оси камер должны быть параллельны друг другу (соосны).
Преимущество в лёгкости, недостаток в сложности настройки подобной системы (две абсолютно идентичные камеры будут всё равно иметь свои искажения, углы зрения и так далее). Частоты камер могут не совпадать. Оси камер должны быть строго параллельны друг другу (соосны).
(2)
\begin{figure}[H]
\centering
\fontsize{12}{1}\selectfont
\includesvg[scale=1.01]{pics/04-vora-00-stereoimg.svg}
\end{figure}
В результате получаем стереопару. Библиотека \code{calib3d}. Получив стереопару возможно строить карту глубин изображения (depth map). \code{cvStereoBMState} block matching. ищем пиксель с одной камеры в полосе другой камеры. Есть другой вид функций -- \code{...GC...} -- graph cut, вычислительно более сложны, остаются только ветки с наименьшими ошибками сопоставления. \footnote{Bradski - Learning OpenCV, Multiple View Geometry in Computer Vision - Hartley, Zisserman}
\subsection{Ректификация}
(3)
\begin{figure}[H]
\centering
\fontsize{12}{1}\selectfont
\includesvg[scale=1.01]{pics/04-vora-00-stereorectif.svg}
\end{figure}
Для определения объекта далее берутся характерные точки и признаки на одном изображении и ищутся на другом изображении.

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