Characteristics of Stereo Imaging using Non-Identical Cameras for Object Detection

The fear from the continuous spreading of the Covid-19 pandemic had put lot of restrictions on the movement of goods around the world. In Egypt, the importing of goods especially electronic products from many countries including China was crucial to the research and educational purposes. The restrictions had stopped the importing of many electronic devices from China including cameras. Object detection and identification were among the hot topics of research in our university which depended mainly on imported cameras. In this paper we tackle the problem of setting up stereo cameras using old non identical cameras to do object detection. The selection of the cameras was not optional since we had to use what we found in our old laptops. OpenCV and Python programming commands were used to set the two cameras to obtain equally clear images as much as possible. A disparity map was then calculated using openCV and its accuracy was then discussed. Accuracy was dependable on the sharpness of the cameras used, Gamma parameter, number of pixels per image and matching algorithm to match the two images obtained using the stereo cameras.

Laser-scanning rangefinder fixed on a gimbal with two degrees of freedom

A laser-scanning rangefinder mounted on a gimbal with two degrees of freedom is presented. The rangefinder can be used as part of a navigation system of an unmanned aerial vehicle to avoid obstacles or prevent collisions. Compared to stereo cameras, the device requires significantly less computing resources and is less dependent on lighting conditions. Compared to integrated lidars, the cost of the device is by an order lower. А model of the device was developed and an obstacle avoidance flight was simulated in the Gazebo simulator. The PX4/Avoidance software was used as an autopilot. As a result of a model experiment, we found that a scanning laser rangefinder can provide autonomous navigation with obstacle avoidance.

Prediction for cloud spacing confirmed using stereo cameras

Using three years of the Clouds Optically Gridded by Stereo (COGS) product, the mean cloud base, cloud top, cloud width, and cloud spacing are described with respect to their seasonal and/or diurnal evolution at the Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) site. In addition to confirming and extending prior results, the data show that the effective diameter of shallow cumuli are approximately equal to the height above ground of the lifting condensation level (LCL). Furthermore, the cloud spacing is found to closely match a prediction by Thuburn and Efstathiou for the horizontal scale of the largest unstable eddies in an unsheared convective boundary layer.

An Experimental Analysis of the Effects of Different Hardware Setups on 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.

Study on Image Correction and Optimization of Mounting Positions of Dual Cameras for Vehicle Test

Among surrounding information-gathering devices, cameras are the most accessible and widely used in autonomous vehicles. In particular, stereo cameras are employed in academic as well as practical applications. In this study, commonly used webcams are mounted on a vehicle in a dual-camera configuration and used to perform lane detection based on image correction. The height, baseline, and angle were considered as variables for optimizing the mounting positions of the cameras. Then, a theoretical equation was proposed for the measurement of the distance to the object, and it was validated via vehicle tests. The optimal height, baseline, and angle of the mounting position of the dual camera configuration were identified to be 40 cm, 30 cm, and 12°, respectively. These values were utilized to compare the performances of vehicles in stationary and driving states on straight and curved roads, as obtained by vehicle tests and theoretical calculations. The comparison revealed the maximum error rates in the stationary and driving states on a straight road to be 3.54% and 5.35%, respectively, and those on a curved road to be 9.13% and 9.40%, respectively. It was determined that the proposed method is reliable because the error rates were less than 10%.

Bolt-on Autonomous E-Vehicle System

In this research we have undertaken the task to design and develop a Level - 3 bolt-on autonomous electric vehicle system, which includes lateral and longitudinal controls which means speed and steering. The paper includes the sensors used for obstacle detection and planning in the autonomous vehicle system, and how using stereo cameras reduces the number of sensors needed to be used in the sensor suite. The Autonomous system will be retro-fitted on any existing electric vehicle to make it autonomous and thus increasing its product life cycle.

On the lifecycle of a shallow cumulus cloud: Is it a bubble or plume, active or forced?

A cloud’s lifecycle determines how its mass flux translates into cloud cover, thereby setting Earth’s albedo. Here, an attempt is made to quantify the most basic aspects of the lifecycle of a shallow cumulus cloud: the degree to which it is a bubble or plume, and active or forced. Quantitative measures are proposed for these properties, which are then applied to hundreds of shallow cumulus clouds in Oklahoma using data from stereo cameras, a Doppler lidar, and large-eddy simulations. The observed clouds are intermediate between active and forced, but behave more like bubbles than plumes. The simulated clouds, on the other hand, are more active and plume-like, suggesting room for improvement in the modeling of shallow cumulus.