generating-Disparity-maps-from-stereo-images

using block matching and dynamic programming to generate disparity maps from stereo images.

brief introduction

having 2 parallel stereo image we can deduce the depth from disparity. we can compute the depth using this equation depth = (baseline * focal length) / disparity)

using epipolar line, we match point X in 3D located in left image to the same point X right image and then calculate the disparity from the displacement between them as illustrated bellow.