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triangulation (3D point)

Recovering a 3D point's location by intersecting the two camera rays that produced its matched image points.

Triangulation recovers a 3D scene point's location from two (or more) camera views by intersecting the rays back-projected from each view's matched image point through its own camera center -- the geometric inverse of projection, turning a 2D correspondence pair plus known camera poses back into a 3D coordinate.

Examples

  • Given the same physical corner matched in both a stereo pair's left and right images, plus each camera's known pose, triangulation recovers that corner's 3D coordinates.

See also

disparity point cloud
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