A Linear Mapping for Stereo Triangulation

  • Klas Nordberg
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4522)


A novel and computationally simple method is presented for triangulation of 3D points corresponding to the image coordinates in a pair of stereo images. The image points are described in terms of homogeneous coordinates which are jointly represented as the outer products of these homogeneous coordinates. This paper derives a linear transformation which maps the joint representation directly to the homogeneous representation of the corresponding 3D point in the scene. Compared to the other triangulation methods this approach gives similar reconstruction error but is numerically faster, since it only requires linear operations. The proposed method is projective invariant in the same way as the optimal method of Hartley and Sturm. The methods has a ”blind plane”; a plane through the camera focal points which cannot be reconstructed by this method. For ”forward-looking” camera configurations, however, the blind plane can be placed outside the visible scene and does not constitute a problem.


Image Point Reconstruction Error Projection Line Stereo Image Dual Frame 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Berlin Heidelberg 2007

Authors and Affiliations

  • Klas Nordberg
    • 1
  1. 1.Computer Vision Laboratory, Department of Electrical Engineering, Linköping University 

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