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The camera baseline is the separation between the camera centers of two views. For centers $C_L,C_R$, its length is $B=\Vert C_R-C_L\Vert$. It measures translation, so turning a stationary camera without moving its camera center does not create a nonzero camera baseline. A known camera baseline supplies the length scale in stereoscopic triangulation.^[ref]

In the ideal aligned model with matched coordinate origins, stereo disparity satisfies $d=fB/Z$. For focal length 800 pixels and depth 5 metres, a camera baseline 0.10 metres gives 16 pixels; doubling the camera baseline gives 32 pixels. With unchanged disparity precision, the larger separation improves depth sensitivity. It can also increase occlusion in stereo vision and reduce overlap of the views. Finally, multiplying both $B$ and all reconstructed lengths by the same factor leaves the projections unchanged: a small reprojection error alone cannot certify the metric scale.

Stereo correspondence identifies image positions in two views that depict the same scene point. This is the matching step needed before stereoscopic triangulation can recover that point. Epipolar geometry restricts a candidate match to an epipolar line; after horizontal stereo rectification, that search follows a corresponding image row.^[ref]

For example, matching a corner at horizontal coordinate 120 in the left view with coordinate 96 in the right gives stereo disparity 24 pixels. A repeated window pattern might offer equally plausible candidates at 96 and 72, producing different inferred depths. Geometry alone does not choose the correct window. A foreground object can also hide the feature in one view: occlusion in stereo vision then prevents a visible match. Texture, agreement of nearby matches and explicit rejection of ambiguous locations supply evidence beyond mere proximity along a row. A confident disparity map must represent locations where stereo correspondence failed as well as those where it succeeded.

Stereo disparity is the difference between the image positions of the same scene feature in two views. For an ideal horizontally aligned pair, use signed horizontal coordinates with matched principal points and defineWith the orientation and camera baseline convention of stereoscopic triangulation, a point in front of the cameras has $d=fB/Z$: stereo disparity measures inverse depth, rather than depth itself. Halving $d$ doubles $Z$ when the camera baseline and focal length stay fixed.

A disparity map assigns this difference to matched image locations. Finding the matches is a separate stereo correspondence problem. A repeated pattern can give several plausible matches; a feature hidden from one camera has no visible partner. A small measured stereo disparity is therefore not, by itself, proof of a distant object: the match and calibration must also be credible.^[ref]

The ideal relation also explains why far-away reconstruction becomes sensitive to measurement error. Differentiating $Z=fB/d$ gives $\mathrm{d}Z/\mathrm{d}d=-fB/d^2$; the first-order propagation of uncertainty is ${\sigma }_Z\simeq fB{\sigma }_d/d^2$. Thus equal disparity errors produce larger depth errors at greater depth. The example and curves under stereoscopy quantify this effect.

Stereoscopic triangulation reconstructs a scene point from corresponding image positions and known camera geometry. Each image position determines a viewing direction. Two correctly matched views constrain the point to lie on both viewing rays; one view alone leaves its position along a ray undetermined.

For an ideal aligned pair, put the left camera at the origin and the right one at $(B,0,0)$ in a Cartesian coordinate system, with their axes pointing in the positive $Z$ direction. Assume a common focal length $f$, square pixels, corrected distortion and image coordinates measured from aligned principal points. Forward perspective projection givesThe stereo disparity $d=u_L-u_R$ therefore determines all three coordinates:Here $Z$ is depth along the camera axis; the Euclidean distance from the left camera is instead $\sqrt{X^2+Y^2+Z^2}$. If $f,u_L,v_L,d$ use pixels and the camera baseline $B$ uses metres, the recovered coordinates use metres. Without a known length scale, the images alone do not determine metric size.^[ref]

Real cameras require calibration before these simplified equations apply. Stereo rectification transforms the images to an aligned geometry. With noisy measurements, viewing rays need not intersect exactly; minimizing reprojection error instead seeks a point whose projected positions agree as closely as possible with the observations. Reconstruction also depends on stereo correspondence: a mathematically precise intersection of mismatched viewing directions can still describe the wrong scene point.^[ref]

Stereoscopy uses images from different viewpoints to convey or recover depth. In scientific photography, identifying the same feature in two calibrated views permits stereoscopic triangulation: intersecting the directions inferred from the two images.^[ref]

Consider ideal cameras with parallel axes, separated by a baseline $B$. With matching forward-projection coordinates and common focal length $f$ in image-coordinate units, a point at $(X,Z)$ projects toSubtracting gives the stereo disparity $d=x_L-x_R=fB/Z$, hence $Z=fB/d$. If $f$ and $d$ are measured in pixels, $Z$ has the same length unit as $B$.

For an original example, $B=0.12\mathrm{m}$, $f=800$ pixels and $d=24$ pixels give $Z=4\mathrm{m}$. First-order propagation of uncertainty gives ${\sigma }_Z\simeq fB{\sigma }_d/d^2$. Thus fixed disparity precision produces increasing depth uncertainty for more distant objects. Correctly matching the same feature is also essential; ambiguous or hidden features can defeat the reconstruction even when the geometry is known.

Stereo vision estimates three-dimensional structure from images taken at different viewpoints. After camera calibration and alignment into a common image geometry, a point's horizontal displacement between the two views is its stereo disparity $d$. For parallel ideal cameras with camera baseline $B$ and focal length $f$ in pixel units, similar triangles giveFor $f=800$ pixels, $B=0.10\mathrm{m}$ and $d=40$ pixels, the inferred depth is $2\mathrm{m}$. Doubling the depth halves the stereo disparity, making distant structure harder to measure accurately.^[ref]

A practical apparatus uses two rigidly mounted cameras, a calibration target and synchronized exposures. Matching the same physical feature is essential: repeated textures, hidden surfaces and motion can give false correspondences. The measurement is therefore geometric inference from matched observations, not an intrinsic depth label stored in each pixel.^[ref]