3D range, depth, distance
two stereo image
x2-x1/f = B/Z -> z = fB/x2-x1
SSD minimization
left -> normalize
right -> normalize => ()2 => Σpixel = value -> ssd
correspondence
cost of match, cost of occlusion
Dynamic programming n2
v(i, g) = max occl + v(i-1,j)
structure from motion
3d world, location of camera
structure from motion
3D world, location of camera
