Real-Time Stereo Camera Calibration Using Stereo Synchronization and Erroneous Input Image Pair Elimination

2013 ◽  
pp. 51-61
Author(s):  
M. S. Shashi Kumar ◽  
N. Avinash
Keyword(s):  
Real Time ◽  
Camera Calibration ◽  
Input Image ◽  
Image Pair ◽  
Stereo Camera

Camera Calibration and 3-D Measurement with an Active Stereo Vision System for Handling Moving Objects

2003 ◽  
Vol 15 (3) ◽  
pp. 304-313 ◽  
Author(s):  
Atsushi Yamashita ◽  
◽  
Toru Kaneko ◽  
Shinya Matsushita ◽  
Kenjiro T. Miura ◽  
...  
Keyword(s):  
Real Time ◽  
Camera Calibration ◽  
Stereo Vision ◽  
Moving Objects ◽  
Vision System ◽  
Computation Time ◽  
Stereo Camera ◽  
Stereo Vision System ◽  
Active Stereo ◽  
Camera Parameters

In this paper, we propose a fast, easy camera calibration and 3-D measurement method with an active stereo vision system for handling moving objects whose geometric models are known. We use stereo cameras that change direction independently to follow moving objects. To gain extrinsic camera parameters in real time, a baseline stereo camera (parallel stereo camera) model and projective transformation of stereo images are used by considering epipolar constraints. To make use of 3-D measurement results for a moving object, the manipulator hand approaches the object. When the manipulator hand and object are near enough to be situated in a single image, very accurate camera calibration is executed to calculate the manipulator size in the image. Our calibration is simple and practical because it does not need to calibrate all camera parameters. The computation time for real-time calibration is not large because we need only search for one parameter in real time by deciding the relationship between all parameters in advance. Our method does not need complicated image processing or matrix calculation. Experimental results show that the accuracy of 3-D reconstruction of a cubic box whose edge is 60 mm long is within 1.8 mm when the distance between the camera and the box is 500 mm. Total computation time for object tracking, camera calibration, and manipulation control is within 0.5 seconds.

scholarly journals Real-Time FPGA Accelerated Stereo Matching for Temporal Statistical Pattern Projector Systems

Sensors ◽  
2021 ◽  
Vol 21 (19) ◽  
pp. 6435
Author(s):  
Zan Brus ◽  
Marko Kos ◽  
Matic Erker ◽  
Iztok Kramberger
Keyword(s):  
Real Time ◽  
Stereo Matching ◽  
Input Image ◽  
Stereo Image ◽  
Image Pair ◽  
Performance Per Watt ◽  
Statistical Pattern ◽  
And Performance ◽  
Image Pairs ◽  
High Level

The presented paper describes a hardware-accelerated field programmable gate array (FPGA)–based solution capable of real-time stereo matching for temporal statistical pattern projector systems. Modern 3D measurement systems have seen an increased use of temporal statistical pattern projectors as their active illumination source. The use of temporal statistical patterns in stereo vision systems includes the advantage of not requiring information about pattern characteristics, enabling a simplified projector design. Stereo-matching algorithms used in such systems rely on the locally unique temporal changes in brightness to establish a pixel correspondence between the stereo image pair. Finding the temporal correspondence between individual pixels in temporal image pairs is computationally expensive, requiring GPU-based solutions to achieve real-time calculation. By leveraging a high-level synthesis approach, matching cost simplification, and FPGA-specific design optimizations, an energy-efficient, high throughput stereo-matching solution was developed. The design is capable of calculating disparity images on a 1024 × 1024(@291 FPS) input image pair stream at 8.1 W on an embedded FPGA platform (ZC706). Several different design configurations were tested, evaluating device utilization, throughput, power consumption, and performance-per-watt. The average performance-per-watt of the FPGA solution was two times higher than in a GPU-based solution.

Real-time 2D height mapping method for an unmanned vehicle using a stereo camera and laser sensor fusion

2012 ◽  
Vol 10 (4) ◽  
pp. 761-771 ◽  
Author(s):  
Jeong-Hyun Kim ◽  
Young-Zhu Yoon ◽  
Sun-Cheol Yu ◽  
Dong-Joong Kang
Keyword(s):  
Real Time ◽  
Sensor Fusion ◽  
Mapping Method ◽  
Laser Sensor ◽  
Unmanned Vehicle ◽  
Stereo Camera

SIMBIO-SYS/STC stereo camera calibration: Geometrical distortion

2019 ◽  
Vol 90 (4) ◽  
pp. 043106 ◽  
Author(s):  
Emanuele Simioni ◽  
Vania Da Deppo ◽  
Cristina Re ◽  
Alessandra Slemer ◽  
Maria Teresa Capria ◽  
...  
Keyword(s):  
Camera Calibration ◽  
Geometrical Distortion ◽  
Stereo Camera

scholarly journals Real Time Detection of Speed Hump/Bump and Distance Estimation with Deep Learning using GPU and ZED Stereo Camera

2018 ◽  
Vol 143 ◽  
pp. 988-997 ◽  
Author(s):  
V S K P Varma ◽  
S Adarsh ◽  
K I Ramachandran ◽  
Binoy B Nair
Keyword(s):  
Deep Learning ◽  
Real Time ◽  
Distance Estimation ◽  
Stereo Camera ◽  
Real Time Detection
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