Multiple views

Multiple views ⇒ Camera Poses + Scene 3D structure

Hough Transform and RANSAC

1. Stereo Rectification

Plane Sweep

window matching

• SSD (Sum of Squared Differences)
• SAD (Sum of Absolute Differences)
• ZNCC (Zero-mean Normalized Cross Correlation), sometimes just “NCC”

3D shape

• depth maps
• point clouds
• Volume scalar-field reconstruction
• Mesh reconstruction

SLAM