Stereo Vision

Extract 3-D information from 2-D images

3-D vision is the process of reconstructing a 3-D scene from two or more views of the scene. Using the Computer Vision System Toolbox™, you can perform dense 3-D reconstruction using a calibrated stereo pair of cameras. You can also reconstruct the scene using an uncalibrated stereo pair of cameras, up to unknown scale. Finally, you can compute a sparse 3-D reconstruction from multiple images, using a single-calibrated camera.


plotCamera Plot a camera in 3-D coordinates
cameraMatrix Camera projection matrix
estimateCameraParameters Calibrate a single or stereo camera
estimateFundamentalMatrix Estimate fundamental matrix from corresponding points in stereo images
estimateGeometricTransform Estimate geometric transform from matching point pairs
estimateUncalibratedRectification Uncalibrated stereo rectification
disparity Disparity map between stereo images
epipolarLine Compute epipolar lines for stereo images
isEpipoleInImage Determine whether image contains epipole
lineToBorderPoints Intersection points of lines in image and image border
rectifyStereoImages Rectify a pair of stereo images
reconstructScene Reconstruct 3-D scene from disparity map
triangulate 3-D locations of undistorted matching points in stereo images
stereoAnaglyph Create red-cyan anaglyph from stereo pair of images
alignColorToDepth Align Kinect color image to depth image
depthToPointCloud Convert Kinect depth image to a 3-D point cloud
detectFASTFeatures Detect corners using FAST algorithm and return cornerPoints object
detectHarrisFeatures Detect corners using Harris–Stephens algorithm and return cornerPoints object
detectMinEigenFeatures Detect corners using minimum eigenvalue algorithm and return cornerPoints object
detectMSERFeatures Detect MSER features and return MSERRegions object
detectSURFFeatures Detect SURF features and return SURFPoints object
extractFeatures Extract interest point descriptors
extractHOGFeatures Extract histogram of oriented gradients (HOG) features
matchFeatures Find matching features


cameraParameters Object for storing camera parameters
cameraCalibrationErrors Object for storing standard errors of estimated camera parameters
intrinsicsEstimationErrors Object for storing standard errors of estimated camera intrinsics and distortion coefficients
extrinsicsEstimationErrors Object for storing standard errors of estimated camera extrinsics
stereoParameters Object for storing stereo camera system parameters
stereoCalibrationErrors Object for storing standard errors of estimated stereo parameters

System Objects

vision.GeometricTransformer Apply projective or affine transformation to image


Apply Geometric Transformation Apply projective or affine transformation to an image
Estimate Geometric Transformation Estimate geometric transformation from matching point pairs
Find Local Maxima Find local maxima in matrices
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