Given the stereo camera model as Fig. 1. The baseline distance, b, between the two cameras is 0.2 meters. The focal length f is 460 meters. The pixel size c is 0.2 meter/pixel. (1) Given a 3D feature that is captured by both the left and right camera, the pixel locations of the features in the left and right images are (45, 150) and (45, 300), respectively. What is the depth of the 3D feature? (20 marks) (2) Given the image size of the left and right camera as 600 x 600, what is the maximum depth the stereo camera can measure? (15 marks) (3) Describe the key drawbacks of the stereo camera for depth calculation. (5 marks) N Px OL Optical center P PR Baseline b -UR -f OR Optical center Figure 1. Illustration of the stereo camera model.