Confocal Disparity Estimation and Recovery of Pinhole Image for Real-Aperture Stereo Camera Systems

For many application areas such as autonomous navigation, the ability to accurately perceive the environment is essential. For this purpose, a wide variety of well-researched sensor systems are available that can be used to detect obstacles or navigation targets. Stereo cameras have emerged as a very versatile sensing technology in this regard due to their low hardware cost and high fidelity. Consequently, much work has been done to integrate them into mobile robots. However, the existing literature focuses on presenting the concepts and algorithms used to implement the desired robot functions on top of a given camera setup. As a result, the rationale and impact of choosing this camera setup are usually neither discussed nor described. Thus, when designing the stereo camera system for a mobile robot, there is not much general guidance beyond isolated setups that worked for a specific robot. To close the gap, this paper studies the impact of the physical setup of a stereo camera system in indoor environments. To do this, we present the results of an experimental analysis in which we use a given software setup to estimate the distance to an object while systematically changing the camera setup. Thereby, we vary the three main parameters of the physical camera setup, namely the angle and distance between the cameras as well as the field of view and a rather soft parameter, the resolution. Based on the results, we derive several guidelines on how to choose the parameters for an application.

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Camera Parameter Entimation Method for Stereo Camera Systems Using the Unscented Kalman Filter

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C ◽

10.1299/kikaic.73.495 ◽

2007 ◽

Vol 73 (726) ◽

pp. 495-503 ◽

Cited By ~ 1

Author(s):

Nozomu ARAKI ◽

Yasuo KONISHI ◽

Hiroyuki ISHIGAKI

Keyword(s):

Kalman Filter ◽

Unscented Kalman Filter ◽

Stereo Camera ◽

Camera Parameter ◽

Camera Systems

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Depth Resolution Analysis of Axially Distributed Stereo Camera Systems under Fixed Constrained Resources

Journal of the Optical Society of Korea ◽

10.3807/josk.2013.17.6.500 ◽

2013 ◽

Vol 17 (6) ◽

pp. 500-505 ◽

Cited By ~ 6

Author(s):

Myungjin Cho ◽

Donghak Shin

Keyword(s):

Depth Resolution ◽

Stereo Camera ◽

Camera Systems ◽

Resolution Analysis

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ACCURACY EVALUATION OF STEREO CAMERA SYSTEMS WITH GENERIC CAMERA MODELS

ISPRS - International Archives of the Photogrammetry Remote Sensing and Spatial Information Sciences ◽

10.5194/isprsarchives-xxxix-b5-375-2012 ◽

2012 ◽

Vol XXXIX-B5 ◽

pp. 375-380 ◽

Cited By ~ 1

Author(s):

D. Rueß ◽

A. Luber ◽

K. Manthey ◽

R. Reulke

Keyword(s):

Accuracy Evaluation ◽

Stereo Camera ◽

Camera Systems ◽

Generic Camera

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The Visual Information Derived From the Stereo Camera System Mounted on the Underwater Vehicle

29th International Conference on Ocean, Offshore and Arctic Engineering: Volume 3 ◽

10.1115/omae2010-20494 ◽

2010 ◽

Cited By ~ 2

Author(s):

Shojiro Ishibashi ◽

Hiroshi Yoshida ◽

Tadahiro Hyakudome

Keyword(s):

Optical Sensors ◽

Visual Information ◽

Autonomous Underwater Vehicle ◽

Vision System ◽

Underwater Vehicle ◽

Underwater Vehicles ◽

Remotely Operated Vehicle ◽

Camera System ◽

Stereo Camera ◽

Camera Systems

The visual information is very important for the operation of an underwater vehicle such as a manned vehicle and a remotely operated vehicle (ROV). And it will be also essential for functions which should be applied to an autonomous underwater vehicle (AUV) for the next generation. Generally, it is got by optical sensors, and most underwater vehicles are equipped with various types of them. Above all, camera systems are applied as multiple units to the underwater vehicles. And they can construct a stereo camera system. In this paper, some new functions, which provide some type of visual information derived by the stereo vision system, are described. And methods to apply the visual information to the underwater vehicle and their utility are confirmed.

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