九.双目视觉系统空间布置

利用双目立体视觉系统两个首要任务：1. 决定相机的内参数 2. 找到图像对的共轭点

To achieve a high distance resolution, the setup should be chosen such that the length b of the basis as well as the focal length f are large, and that the stereo camera system is placed as close as possible to the object. In addition, the distance resolution depends directly on the accuracy d with which the disparities can be determined. Typically, the disparities can be determined with an accuracy of 1/5 up to 1/10 pixel, which corresponds to approximately 1 μm for a camera with 7.4 μm pixel size.

注意以上视觉系统布置时，各个参数对Z方向分辨率的影响。