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. 2020 Dec 18;20(24):7270. doi: 10.3390/s20247270

Figure 3.

Figure 3

Principle of edge reconstruction by combining dual camera FPP 3-D data and monocular image contour. The orange line illustrates the 3-D coordinates solving of the right camera, where the spatial point X is the intersection between fitted plane and camera ray. The same procedure can also be applied to the left image.