Ad Hoc Range Finder

The 3D geometry of the scene can be reconstructed using the imagery from the smart camera network by establishing stereoscopic correspondences between points viewed in two or more images. We swept a plane of laser light across the scene and the curves corresponding to the illuminated pixels in the two images are recovered.
To find the correspondence for each point in the other image we first project the ray for that point into the other image to construct the corresponding epipolar line and then search along that line to find the corresponding pixel that is also illuminated by the laser plane.
Two images of a scene illuminated with a plane of laser light
A 3D view along with the corresponding image