I reconstruct 3D scene using MATLAB 2014b and using point cloud I have to find out the X,Y and Z co-ordinates of white object in scene. For this, I find out centroids of white objects in Image 1 (I1)and using that values (which are in pixels off-course) I extract X, Y and Z values. But when I compared these extract values with actual values (which I measured with scale from left camera or camera 1), there was huge difference in values. Then I notice that my actual image I1 is of 480×640 while my rectified image J1 is of 442×604. Then just for trial, I found the centroid of white object in J1 (using impixelinfo) and extract the values. These values are far better then I get using I1, but still there is an avg. error of 7.31 cm in X, 0.5 cm in Y and 4.0 cm in Z. I can tolerate 0.5 cm error, so Y co-ordinate is not problem but in X and Z co-ordinates I want more accuracy (with preferable image I1 because I have code to get centroids using I1 not J1). I calibrate my stereo camera many times and still the same problem. One more point I notice that as distance along X-axis from left camera increases my accuracy increases. I can't understand, why? I'm attaching my stereoParams and excel files showing error with this.
MATLAB: X, Y and Z co-ordinates from 3D point cloud are not accurate. Showing considerable error in X co-ordinates.
3d sceneco-ordinatesComputer Vision Toolboxstereo vision
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