Verging Axis Stereophotogrammetry

Conventional stereophotogrammetry uses a canonical configuration in which the optical axes of both cameras are parallel. However, if we follow lessons from evolution and swivel the cameras so that their axes intersect in a fixation point, then we obtain considerably better depth resolution. We modified our real-time stereo hardware to handle verging axis configurations and show that the predicted depth resolution is practically obtainable. We compare two techniques for rectifying images for verging configurations. Bouguet's technique gives a simpler geometry - the iso-disparity lines are straight and the familiar reciprocal relationship between depth and disparity may still be used. However when the iso-disparity lines are the Veith-Muller circles, slightly better depth resolution may be obtained in the periphery of the field of view - at the expense of a more complex conversion from disparity to depth.

传统的立体摄影测量采用一种标准配置，即两个相机的光轴是平行的。然而，如果我们借鉴进化的经验，转动相机使其光轴在一个注视点相交，那么我们就能获得好得多的深度分辨率。我们对实时立体硬件进行了改造，以处理会聚轴配置，并表明预测的深度分辨率实际上是可以实现的。我们比较了两种针对会聚配置校正图像的技术。布格特的技术给出了一种更简单的几何结构——等视差线是直线，并且深度和视差之间熟悉的倒数关系仍然可以使用。然而，当等视差线是维斯 - 米勒圆时，在视场周边可能会获得稍好的深度分辨率——但这是以从视差到深度的转换更复杂为代价的。