1A1-A11 High-speed Stereo Vision System Using Two Gaze Controllers by Rotational Mirrors(3D Measurement/Sensor Fusion(1))

2012 ◽  
Vol 2012 (0) ◽  
pp. _1A1-A11_1-_1A1-A11_4
Author(s):  
Tomohiro SUEISHI ◽  
Kohei OKUMURA ◽  
Hiromasa OKU ◽  
Masatoshi ISHIKAWA
Keyword(s):  
Sensor Fusion ◽  
Stereo Vision ◽  
High Speed ◽  
Vision System ◽  
3D Measurement ◽  
Measurement Sensor ◽  
Stereo Vision System

Three-Dimensional Measurement System Based on Micro Stereovision

2014 ◽  
Vol 609-610 ◽  
pp. 1189-1194
Author(s):  
Wei Pei ◽  
Yong Ying Zhu ◽  
S.X. Liu ◽  
J.M. Wen
Keyword(s):  
Nonlinear Model ◽  
Stereo Vision ◽  
Vision System ◽  
Shape Reconstruction ◽  
Coupling Mechanism ◽  
3D Measurement ◽  
Reconstruction Algorithms ◽  
Micro Assembly ◽  
Stereo Vision System ◽  
3D Shape Reconstruction

With vision feedback the binocular micro stereovision system based on stereo light microscope (SLM) makes it possible to achieve 2D/3D high accuracy auto-positioning, 3D information extraction, 3D shape reconstruction and 3D measurement. Therefore, it is extensively used in micro robot navigation, micromanipulation, micro assembly and bioengineering, etc. To improve the key problems of low accuracy, refraction and occlusion in micro stereovision measurement, a novel micro stereo vision system is built based on optical theory and digital image processing. Then, the nonlinear correlation between optical paths of the micro stereo vision system is studied and the environment adaptive nonlinear model is established. On this basis, the coupling mechanism of multi-refraction and occlusion with micro-projection nonlinear model is proved, and multi-refraction variable refractive index correction and micro stereo occlusion reconstruction algorithms are developed. It realizes synchronization observation in larger field of view, rapid non-contact accuracy positioning and 3D measurement based on stereovision to solve the pivotal problems of accuracy positioning and measure in the chip encapsulation, micro assembly and the micro manipulation.

scholarly journals Architecture and implementation of a high frame-rate stereo vision system

2021 ◽  
Author(s):  
Jamin Islam
Keyword(s):  
Integrated Circuits ◽  
Stereo Vision ◽  
High Speed ◽  
Vision System ◽  
Low Cost ◽  
Cost Effective ◽  
Frame Rate ◽  
Superior Performance ◽  
High Frame Rate ◽  
Stereo Vision System

For the purpose of autonomous satellite grasping, a high-speed, low-cost stereo vision system is required with high accuracy. This type of system must be able to detect an object and estimate its range. Hardware solutions are often chosen over software solutions, which tend to be too slow for high frame-rate applications. Designs utilizing field programmable gate arrays (FPGAs) provide flexibility and are cost effective versus solutions that provide similar performance (i.e., Application Specific Integrated Circuits). This thesis presents the architecture and implementation of a high frame-rate stereo vision system based on an FPGA platform. The system acquires stereo images, performs stereo rectification and generates disparity estimates at frame-rates close to 100 fpSi and on a large-enough FPGA, it can process 200 fps. The implementation presents novelties in performance and in the choice of the algorithm implemented. It achieves superior performance to existing systems that estimate scene depth. Furthermore, it demonstrates equivalent accuracy to software implementations of the dynamic programming maximum likelihood stereo correspondence algorithm.

Development of a Low-Cost, High-Speed Stereo Vision System Using a CMOS Imager and DSP

2011 ◽  
Vol 5 (3) ◽  
pp. 445-451
Author(s):  
Makoto Yamashita ◽  
◽  
Noriaki Maru ◽  
Keyword(s):  
Stereo Vision ◽  
High Speed ◽  
Vision System ◽  
Low Cost ◽  
Small Scale ◽  
Target Point ◽  
Real Time Processing ◽  
Cmos Imager ◽  
Stereo Vision System ◽  
Target Track

This article presents the development of a low-cost, high-speed stereo vision system for embedded use employing a mass-produced CMOS imager and a commercially available DSP. We use the system to acquire an image of 96×96 pixels in a period of 1 ms. We embed a read region movement control and a target track function into the system and successfully track a target point within a period of 3 ms. The difference between this high-speed stereo vision system and traditional ones lies in that this system is intended to be used even in a small-scale control system using a microcomputer. We limit the capacity of the image memory in which acquired pixel data is temporarily stored and performed real time processing. As a result, we eliminate frame memory and thus simplify its corresponding circuit. This allows the system to be reduced in size, power consumption, and cost, thereby making the system appropriate for embedded devices, batterypowered robots, and the like.

A New Mobile Robot With a Passive Mechanism and a Stereo Vision System for Hazardous Terrain Exploration

2004 ◽  
Author(s):  
Sukjune Yoon ◽  
Chun-Kyu Woo ◽  
Hyun Do Choi ◽  
Sung-Kee Park ◽  
Sung-Chul Kang ◽  
...  
Keyword(s):  
Remote Control ◽  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Stereo Vision ◽  
High Speed ◽  
Vision System ◽  
Three Dimensional ◽  
Linkage Mechanism ◽  
Passive Mechanism ◽  
Stereo Vision System

The purpose of this project is to develop a mobile robot for hazardous terrain exploration. The exploration of hazardous terrain requires the development of a passive mechanism adaptable to such terrain and a sensing system for obstacle avoidance, as well as a remote control. We designed a new mobile robot, the Ronahz 6-wheel robot, which uses a passive mechanism that can adapt to hazardous terrains and building stairways without any active control. The suggested passive linkage mechanism consists of a simple four-bar linkage mechanism. In addition, we install a stereo vision system for obstacle avoidance, as well as a remote control. Wide dynamic range CCD cameras are used for outdoor navigation. A stereo vision system commonly requires high computational power. Therefore, we use a new high-speed stereo correspondence algorithm, triangulation, and iterative closest point (ICP) registration to reduce computation time. Disparity maps computed by a newly proposed, high-speed method are sent to the operator by a wireless LAN equipment. At the remote control site, a three-dimensional digital map around a mobile robot is built by ICP registration and reconstruction process, and this three-dimensional map is displayed for the operator. This process allows the operator to sense the environment around the robot and to give commands to the mobile robot when the robot is in a remote site.

scholarly journals Study of the Error Caused by Camera Movement for the Stereo-Vision System

2021 ◽  
Vol 11 (20) ◽  
pp. 9384
Author(s):  
Yan Liu ◽  
Zhendong Ge ◽  
Yingtao Yuan ◽  
Xin Su ◽  
Xiang Guo ◽  
...  
Keyword(s):  
Stereo Vision ◽  
Measurement Accuracy ◽  
Rotation Angle ◽  
Vision System ◽  
Distance Measurement ◽  
3D Measurement ◽  
Relative Rotation ◽  
Distance Error ◽  
Stereo Vision System ◽  
Coordinate Error

The stereo-vision system plays an increasingly important role in various fields of research and applications. However, inevitable slight movements of cameras under harsh working conditions can significantly influence the 3D measurement accuracy. This paper focuses on the effect of camera movements on the stereo-vision 3D measurement. The camera movements are divided into four categories, viz., identical translations and rotations, relative translation and rotation. The error models of 3D coordinate and distance measurement are established. Experiments were performed to validate the mathematical models. The results show that the 3D coordinate error caused by identical translations increases linearly with the change in the positions of both cameras, but the distance measurement is not affected. For identical rotations, the 3D coordinate error introduced only in the rotating plane is proportional to the rotation angle within 10° while the distance error is zero. For relative translation, both coordinate and distance errors keep linearly increasing with the change in the relative positions. For relative rotation, the relationship between 3D coordinate error and rotation angle can be described as the nonlinear trend similar to a sine-cosine curve. The impact of the relative rotation angle on distance measurement accuracy does not increase monotonically. The relative rotation is the main factor compared to other cases. Even for the occurrence of a rotation angle of 10°, the resultant maximum coordinate error is up to 2000 mm, and the distance error reaches 220%. The results presented are recommended as practice guidelines to reduce the measurement errors.

Sign in / Sign up

Export Citation Format

Share Document