Application of Stereo Vision in Tracking *This research is supported by NSF Grant No. CNS 1005212. Opinions, findings, conclusions, or recommendations.

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Presentation transcript:

Application of Stereo Vision in Tracking *This research is supported by NSF Grant No. CNS Opinions, findings, conclusions, or recommendations expressed in this paper are those of the author(s) and do not necessarily reflect the views of NSF James Smith NSF REU- Summer 2011

Overview Definition and Uses Related Work Implementation Research and Current Problems

Definition What is stereo vision? Why is it used?

Related Work Multiple View Geometry in Computer Vision Richard Hartley, Andrew Zisserman Robot Localization and Mapping Human Interaction

How It Works

D = f * [ (b/(v1 + v2)) - 1] National Instruments, How It Works

Left Camera Image Disparity Image

Research and Problems Optimized Object Detection Single/Multiple Object Tracking

Left Camera Image Disparity Image

National Instruments – Developer Zone: Robotics Fundamentals, December 10, 2008 URL: Se, S.; Lowe, D.; Little, J.;, "Vision-based mobile robot localization and mapping using scale-invariant features," Robotics and Automation, Proceedings 2001 ICRA. IEEE International Conference on, vol.2, no., pp vol.2, 2001 URL: Richard Hartley; Andrew Zisserman; “Multiple View Geometry in Stereo Vision”, 2003 References