Uses of Disparity From Images
Knowledge of disparity can be used in further extraction of information from stereo images. One case that disparity is most useful is for depth/distance calculation. Disparity and distance from the cameras are negatively correlated. As the distance from the cameras increases, the disparity decreases. This allows for depth perception in stereo images. Using geometry and algebra, the points that appear in the 2D stereo images can be mapped as coordinates in 3D space.
This concept is particularly useful for navigation. For example, the Mars Exploration Rover uses a similar method for scanning the terrain for obstacles. The rover captures a pair of images with its stereoscopic navigation cameras and disparity calculations are performed in order to detect elevated objects (such as boulders). Additionally, location and speed data can be extracted from subsequent stereo images by measuring the displacement of objects relative to the rover. In some cases, this is the best source of this type of information as the encoder sensors in the wheels may be inaccurate due to tire slippage.
Read more about this topic: Binocular Disparity
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