24.6 A stereo system is being contemplated for terrain mapping. It will consist of two CCD cameras, each having 512x512 pixels on a 10 cm x 10 cm square sensor. The lenses to be used have focal length 16 cm, and focus is fixed at infinity. For corresponding points (u\, vi) in the left image and (u2, V2) in the right image, vi = V2 as the x-axes in the two image planes are parallel to the epipolar lines. The optical axes of the two cameras are parallel. The baseline between the cameras is 1 meter.

a. If the nearest range to be measured is 16 meters, what is the largest disparity that will occur

(in pixels)?

b. What is the range resolution, due to the pixel spacing, at 16 meters?

c. What range corresponds to a disparity of one pixel?