scholarly journals High accuracy stereo vision system for far distance obstacle detection

2004 ◽  
Author(s):  
S. Nedevschi ◽  
R. Schmidt ◽  
R. Danescu ◽  
D. Frentiu ◽  
T. Marita ◽  
...  
Keyword(s):  
Stereo Vision ◽  
Vision System ◽  
High Accuracy ◽  
Obstacle Detection ◽  
Stereo Vision System

A Real-Time Stereo Vision System for Obstacle Detection and Recognition

2012 ◽  
Author(s):  
Ta-Te Lin ◽  
An-Chih Tsai ◽  
Kai-Chiang Chuang ◽  
Yu-Chou Chen ◽  
Yu-Sung Chen
Keyword(s):  
Real Time ◽  
Stereo Vision ◽  
Vision System ◽  
Obstacle Detection ◽  
Stereo Vision System ◽  
Detection And Recognition

Self-Calibration of the Stereo Vision System of the Chang'e-4 Lunar Rover Based on the Points and Lines Combined Adjustment

2020 ◽  
Vol 86 (3) ◽  
pp. 169-176
Author(s):  
Shuo Zhang ◽  
Yang Jia ◽  
Song Peng ◽  
Bo Wen ◽  
Youqing Ma ◽  
...  
Keyword(s):  
Stereo Vision ◽  
Vision System ◽  
Measurement Instrument ◽  
Calibration Method ◽  
High Accuracy ◽  
Calibration Model ◽  
Lunar Rover ◽  
Self Calibration ◽  
Stereo Vision System ◽  
Laboratory Calibration

The stereo vision system is the special engineering measurement instrument of the Chang'e-4 lunar rover. It is composed of the Navigation Camera (NavCam) and the Mast Mechanism (MasMec). An improved self-calibration method for the stereo vision system of the Chang'e-4 lunar rover is proposed. The method consists of two parts: the NavCam's self-calibration and the MasMec's self-calibration. A combined adjustment based on the points and lines is proposed. The baseline constraint of the NavCam is considered. The self-calibration model of the MasMec is established based on the product-of-exponentials formula. Finally, the premission laboratory calibration and the on-site calibration are carried out. The laboratory calibration shows that the proposed approach has high accuracy. The checkpoint with a distance of about 2.7 m to the left NavCam has a point error of about 4 mm. Finally, the proposed approach is applied in the on-site calibration.

Obstacle Detection for Patrol Robot Using Bumblebee2 Stereo Vision System

2011 ◽  
Vol 48-49 ◽  
pp. 749-752 ◽  
Author(s):  
Xing Zhe Xie ◽  
Heng Wang ◽  
Qian You Luo
Keyword(s):  
Stereo Vision ◽  
Vision System ◽  
Ground Plane ◽  
Obstacle Detection ◽  
Consensus Algorithm ◽  
Analysis Method ◽  
Connected Component ◽  
Occupancy Grid ◽  
Stereo Vision System ◽  
Random Sample Consensus

This paper employs Bumblebee2 stereo vision system to detect the obstacles for patrol robot in substation environment. Firstly, with the selected points in the disparity image, the ground plane is calculated by the RANSAC (Random Sample Consensus) algorithm. And then, the local occupancy grid map is built for patrol robot, and the obstacles are detected through connected component analysis method. The actual test in substation environment verified the reliability of the system.

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