depth_estimation_overview.md

Stereo Depth Estimation

Introduction

This project implements a stereo vision system that estimates depth from two camera views.

Pipeline Overview

1. Image Rectification

   • Compute transformation between right and left camera views
   • Apply homography to align epipolar lines horizontally

2. Disparity Computation

   • Use SSD to match patches
   • Perform left-right consistency check to filter unreliable matches

3. Depth Reconstruction

   • Convert disparity to depth using baseline and focal length
   • Back-project pixels to 3D space using camera parameters