Stereo Vision

A way to get 3D information from 2D images

$$\left[\begin{array}{c}{X}_c\\ Y_c\\ Z_c\end{array}\right]=\mathbf{R}\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\end{array}\right]+\vec{t}=[\mathbf{R}|t]\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\end{array}\right]$$

• $\mathbf{R}$ is the rotation matrix in 3D
• $\vec{t}$ is a translation vector
• $[\mathbf{R}|t]$ is called the extrinsic matrix