3D reconstruction of a scene using stereo images

Two-dimensional photographs do not have depth-information. One solution to determine the location of an object in three-dimensional environment is to use more than one photograph as exposed by the nature. Extracting the depth information using stereo images is purposed in this thesis.The thesis analyzes the steps and encountered problems in three-dimensional reconstruction process, explains the solutions exposed with the aid of epipolar geometry using some of the feature-based matching techniques. Stereo images which are taken from two calibrated cameras viewing the same scene are used to obtain estimated three-dimensional data. Pinhole camera model, epipolar geometry and its recovery are discussed; common stereo triangulation methods are explained in the chapters of the thesis. Besides, feature extraction and matching topics which are used for the reconstruction process are examined. Some of the methods used in the thesis are presented by algorithmic solutions and mathematical notations. Significant advantages and disadvantages of the methods are briefly discussed and encountered problems are tried to be challenged by fundamental approaches.