This Project consists implementation of creating 3D pointclouds from the Left and Right Images of a Stereo Camera. The main idea is to use the epipolar geometry and Simple Pinhole Camera model to estimate the depth of points in the Image. A disparity map is created using feature matching algorithms like SIFT, SURF, ORB etc. In this we have used the OpenCv function to Stereo_BM to create the disparity map. The depth map is then created using the Camera parameters data.
DATASET USED: https://vision.middlebury.edu/stereo/data/scenes2014/
The file 3D_Reconstruction.ipynb consists the complete implementation of the project.
The output point clouds are saved in .pcd file format which is then visualized using MATLAB.
Disparity
Depth PointClouds
