Geometric calibration of a camera or a stereoscopic vision sensor
Triangulation
Equations (24) and (25) express the coordinates of both points
and
, respectively the left and right projections of a point
of the scene.
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We can write the following four-equation system:
If we know both image points
and
and if the stereoscopic sensor is calibrated (6.), then, by resolving this four-equation overdetermined system, we can determine the three unknowns which are the tridimensional coordinates of point
[22].