# BAT-2019 Assignment 6

### Extending the CCNY Joint Senior Design Program on Assistive Technology Across School Boundaries

CSc 59866/59867 Capstone I/II (Section 1CD) Fall 2019 – Spring 2020
CS/CpE/EE Joint Senior Design + BIC Independent Work

Stereo and Motion ( Deadline: Nov 24 midnight)
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Note: All the writings must be in soft copies (PDF).  Please send the writing report  to Prof. Zhu < capstone.zhu.ccny@gmail.com> as an email attachment. You are responsible for the loss of your submission if you don’t include  “Capstone 2019” (exactly) in the subject of your email.

1.  (Stereo- 25 points ) Estimate the accuracy of  the simple stereo system (Figure 3 in the online lecture notes of stereo vision) assuming that the only source of noise is the localization of corresponding points in the two images. Discuss the dependence of the error in depth estimation as a function of disparity error, depth itself, the baseline width and the focal length, respectively.

Hint: Z = fB/d; Take the partial derivatives of Z with respect to d, B, f,  respectively.

2. (Motion- 25 points) Could you obtain 3D information of a scene by viewing the scene by a camera  rotating around its optical center? Show why or why not. What about moving the camera along its optical axis?

3. (25 points) Discussion the similarities (at least 2 ) and differences (at least 2) between stereo vision and visual motion .

4. (25 points) Give five examples where humans use stereo and motion, and Google another five examples that use machine vision algorithms of stereo and motion.