Stereoscopy

Er. Sujan Sapkota

sujan.sapkota@ku.edu.np
Contents
Stereoscopic Vision and conditions for viewing stereoscopic vision
Parallax
Process for Orientation of Pair of Photographs
Methods for Stereoscopic Viewing using the following techniques
Pocket and Mirror Stereoscope
Anaglyph System
Modern Methods
Orientation Elements of a photograph and their motion
Stereo restitution
Inner orientation
Exterior orientation: Relative and Absolute orientation
Monocular vision and binocular vision
A person having two eyes or he/she can see the world with both eyes is
known as the binocular vision
If the person having one eyes or he close one eye he has monocular vision
Person having normal binocular vision can view an object with both eyes
simultaneously and can judge the depth or the distance of the object
A person with the monocular vision cannot judge the depth or distance
accurately. He is not able to see the third dimension object. He perceive
three dimension with relative size of object.
Stereoscopic vision
Stereopsis is a term that is most often used to refer to the perception of
depth and 3-dimensional structure obtained on the basis of visual
information deriving from two eyes by individuals with normally developed
binocular vision.
Because the eyes of humans, and many animals, are located at different
lateral positions on the head, binocular vision results in two slightly different
images projected to the retinas of the eyes.
The differences are mainly in the relative horizontal position of objects in the
two images
Stereoscopic vision
man and animal having correct Binocular vision can perceive depth of any
object
Also such vision can also be simulated by artificially presenting two different
images separately to each eye using a method called stereoscopy.
The perception of depth in such cases is also referred to as "stereoscopic
depth”
The perception of the depth through binocular vision is called the
stereoscopic vision
Stereoscopic model
A pair of overlapping photograph is known as stereo model
Stereoscopic depth perception is extremely important in
photogrammetry
If a pair of overlapping photographs are viewed stereoscopically, a
three dimensional stereo model of the tertian is obtained
The stereo model is used for the study, measurement and
mapping
The three dimensional model obtained in stereoscopic viewing is
called a stereoscopic model
Parallactic angle
When both the eyes are focused on a certain point,
the optical axis of the two eyes converge at that
point
The angle which the two axes make at that point is
called the Parallactic angle
In the figure Parallactic angle at an objects A and B
are respectively Ѳa and Ѳb
The nearer the object the greater the angle
The depths of perception at A and B are
respectively DA and DB. The human brain
automatically associates depths of perception
The difference between DB- DA is perceived as the
difference between the Parallactic angle.
Human eye
The optical exes of the two eyes of an adult Separated by 63 to 69 mm
with average distance of 66mm
The distance is known as eye base
The principle of depth perception by comparison of Parallactic angles is
extremely useful
Using this principle photographs can be analyzed stereoscopically and
the height of objects and variation in the terrain can be determined
Parallax
 When viewed from "Viewpoint
A", the object appears to be in
front of the blue square.
 When the viewpoint is
changed to "Viewpoint B", the
object appears to have moved
in front of the red square.
Parallax

As the viewpoint moves side to side, the

distant objects appear to move more slowly
than the objects close to the camera
Parallax/ Stereoscopic parallax
In normal binocular vision apparent movement of point viewed from first
with one eye and then with the other is known as parallax
An Arial camera record the position of images at the instant of exposure
when it expose overlapping photographs at regular interval of time
The change in the position of an image from one photographic position of
an image from one photograph to the other is called stereoscopic parallax, x-
parallax or simply parallax
And Change in the position of an object perpendicular to the flight direction
is called Y-Parallex.
There is always parallax for images which appear on successive overlapping
photograph
Parallax can be used to determine distances
Parallax/ Stereoscopic parallax
 Many animals, including humans, have two eyes with overlapping
visual fields that use parallax to gain depth perception; this process
is known as stereopsis
 In computer vision the effect is used for computer stereo vision, and
there is a device called a parallax rangefinder that uses it to find
range, and in some variations also altitude to a target.
 The movement of an image across the focal plane depends on the
elevation of the corresponding object point.
Parallax/ Stereoscopic parallax
 In figure the elevation of A
is greater than B
Therefore point A is closer
to the camera lens than
the point B.
 The movement of image A
across the focal plane is
greater than that of the
image B. In other word
parallax of point A is
greater than the parallax of
point B
 aa’>bb’
Stereoscopic Parallax
Stereoscopic Parallax
p = xl – xr
B/(H-h) = p/f
For point1 with elevation h1 and parallax
p1 , and point2 with elevation h2 and
parallax p2.
For point 1
B/(H-h1) = p1/f
(H-h1) = Bf/p1
For point 2
B/(H-h2) = p2/f
(H-h2) = Bf/p2
1 1
(H-h1)- (H-h2) = Bf(p − p )
1 2

p2−p1
(h2-h1) = Bf(p1∗p2 )
Parallax/ Stereoscopic parallax
 From the above discussion following points should be noted
– The parallax of a point depends upon its elevation
– The magnitude of parallax is greater for the point at the higher elevation
• The principle of the variation of parallax with elevation is used for
determination of the elevation of various points from photographic
measurement
Parallax/ Stereoscopic parallax
 Figure shows the sectional
elevation of the two overlapping
photograph which have been
taken from exposure station L1
and L2
 The photo coordinate of the
image points a and a’ are marked
as xa and –xa’
 Then the parallax of an object
point A is given by
Pa=xa-xa’ = xa+xa’ (numerically)
 Likewise the parallax on point B is
given by
Pb= xa-xb’ =xb+xb’ (numerically)
 In general P=x-x’
Process for Orientation of Pair of Photographs
Before stereoscopic viewing , the photograph should properly oriented so
that the left eyes see the left photograph and right eyes see the right
photograph (if the photos are reversed a pseudoscopic view of the terrain is
obtained in which valley appears as the ridge and hills appear as the
depression)
For ideal stereoscopic viewing, it is essential that the eye base, the flight
line and the line joining the center of the stereoscope lens are parallel to
one another
First the flight line should marked on the vertical photograph.
The flight line is the line joining the Centre of the two photograph . The principle
point are marked on the two photograph as O1 and O2. Conjugate principle point O1’
and O2’ are the principle points of two adjacent photographs.
Process for Orientation of Pair of Photographs
Process for Orientation of Pair of Photographs
After marking the four points O1, O2, O1’ and O2’, the left photo is
fastened onto the table. The right photo is now oriented so that the
four points lie along the straight line
 The right photo is now viewed through the stereoscope. If necessary it is
moved sideways. The spacing between the corresponding details should is
placed such that comfortable stereoscopic view is obtained. For pocket
stereoscope spacing is 51 mm and from mirror stereoscope it is about
255mm
After the photo have been properly oriented, the line joining the
stereoscope lenses centers is made parallel to the flight line by simply
rotating the stereoscope. This is continued till most comfortable
viewing is achieved
Region behind the depth perception
1. relative apparent size of near and far object
2. Effect of light and shade
3. Viewing of an object simultaneously which are separated in space
Out of these,3 is most important for stereoscopic vision each eye view an
object from slightly different position and by psychological process the
two separate image combine together in the brain enabling us to see in
three dimension
Anaglyph System
It is also one of the easy and less
expensive system for stereoscopic
vision.
we need red filter over your left eye
and a blue or green or cyan( blue+
green) filter over your right eye. Any
of these will work to get the 3D effect,
but for viewing full color anaglyph, the
red cyan combination is best. When
we look them by red glass/ lens for
the left and cyan lens for the right,
three complementary color fuses to
give a white colored 3D view.
Modern Method
The beginning of the 21st century marked the coming of the age of digital
photography.
Stereo lenses were introduced which could turn an ordinary film camera
into a stereo camera by using a special double lens to take two images
and direct them through a single lens to capture them side by side on the
film.
These are also available for digital SLR (DSLR) cameras.
Orientation Elements of a photograph and their
motion
The objective of orientation is to transform centrally projected images
into a three-dimensional model, which we can use to plot an orthogonal
map.
The translation elements are represented by: bx, by and bz for x, y and z
direction respectively
The rotation elements are represented by ω, φ and χ along x, y and z axis
respectively.
There are 12 orientation elements for a model with 6 shifts and 6
rotations, three each on each camera.
Stereo restitution
Inner/Interior orientation
Reconstruction of bundle of rays of a single photograph at the time of
exposure is termed as inner orientation.
Two steps to perform Inner Orientation:
– Centering the Plate with the help of fiducial marks Photo
– Setting the Principal Distance
Stereo restitution
Inner/Interior orientation
Interior orientation defines the internal geometry of a camera or
sensor as it existed at the time of data capture.
It defines image space coordinates based on pixel and image coordinates
and camera parameters (e.g., f and lens distortion model).
– Principal point & fiducial marks
– Focal length & lens distortion
– No GCPs
Interior orientation is defined by the position of the perspective center w.r.t.
the image coordinate system (xp, yp, c).
Another component of the interior orientation is the distortion parameters
Elements of Interior Orientation
• Elements of interior orientation that can be determined through
camera calibration are as follows;
i) Curvature of the earth
ii) Atmospheric Refraction
iii) Lens Distortion
iv) Principle Point Displacement
v) Film Deformation
vi) Scanner Calibration
Exterior Orientation (outer orientation)
Relative orientation
Absolute orientation
Exterior Orientation (outer orientation)
Relative orientation
A process of making intersection of corresponding rays of two bundle of
rays belong to two adjacent photos of the same strip is termed as relative
orientation.
The purpose of relative orientation is to reconstruct the same
perspective condition between a pair of photographs that exist when the
photographs were taken.
Exterior Orientation (outer orientation)
Relative orientation
Result: A stereo-model, which is a 3-D representation of the object
space w.r.t. an arbitrary local coordinate system.
If we make at least five conjugate light rays intersect, all the remaining
light rays will intersect at the surface of the stereo-model.
x-parallax & y-parallax
Two conjugate light rays will be separated at any projection plane
(DD`).
This separation can be decomposed into:
– x-parallax (along the base connecting the two perspective centers), and
 – y-parallax (along the perpendicular direction).
x-parallax is responsible for depth perception.
During relative orientation, we clear the y-parallax.
Absolute Orientation
Absolute Orientation
Purpose: Rotate, scale, and shift the stereo-model (resulting from
relative orientation) until it fits at the location of control points
Absolute orientation is defined by:
– Three rotations,
– One scale factor, and
– Three shifts.
The absolute orientation is described mathematically by a 3-D similarity
transformation.
Thank You
Related Questions
1. Define Stereoscopic Vision. Explain the condition for stereoscopic
vision.
2. Explain different technique for stereoscopic vision.
3. Explain the orientation in photogrammetry. Explain different types of
orientation used in aerial photogrammetry.
4. Explain the term Parallex in photogrammetry.