Method for processing captured image data of stereo camera system, involves determining extrinsic rotation of two cameras during operation of system, and determining and calculating depth information from mapping tables and mapping rules

摘要

The method involves depositing pixels based on mapping tables (A1-An). A mapping process of image points in an image is carried out based on the mapping tables and stored mapping rules (Z1-Zn). A subset of extrinsic rotations of two cameras is formed in discretization parameter space and stored in the mapping tables. Current extrinsic rotation of two cameras is determined during operation of a stereo camera system (1). Depth information (TI) is determined and calculated from the mapping tables and the mapping rules.