Stereo Vision Geometry: How Binocular Cameras Estimate Depth #3400393 (License: Personal Use)

This diagram depicts the core principle of stereo vision: two cameras (Oₗ and Oᵣ) observe a 3D point X, projecting it to image points xₗ and xᵣ. Epipolar lines constrain the search for correspondences, enabling depth estimation via triangulation. The green shaded region represents the disparity-based depth map derived from matching features across views.

Used in computer vision educational material, robotics documentation, and autonomous driving system explanations; targets engineers, students, and developers seeking to understand depth perception from dual-camera setups.