Pick up the correct statement from the following: A. The plane passing through the perspective centre of a stereo pair and a ground point, is known as basal plane B. Each pair of image points on stereo pair have their own basal plane C. Relative orientation means reconstructing the basal plane D. All the above

The correct answer is D. All the above.

The basal plane is the plane passing through the perspective centre of a stereo pair and a ground point. Each pair of image points on stereo pair have their own basal plane. Relative orientation means reconstructing the basal plane.

The basal plane is a fundamental concept in stereo vision. It is the plane that contains the perspective centres of the two cameras in a stereo pair and the ground point. The basal plane is used to compute the relative orientation of the two cameras, which is necessary for stereo matching.

Each pair of image points on stereo pair have their own basal plane. This is because the perspective centres of the two cameras are not always the same. The basal plane for each pair of image points is the plane that contains the perspective centres of the two cameras and the image points.

Relative orientation means reconstructing the basal plane. This is done by computing the relative position and orientation of the two cameras. The relative orientation is necessary for stereo matching, which is the process of finding the corresponding points in the two images.