Depth Analysis With Stereo Cameras Timo Hohn and Leo Nickerson Group 5

Motivation Functionality 3D depth analysis for remote robot imagery, where more information of the scene is necessary. Object detection and avoidance applications for robot navigation where IR systems are not available. Take stereo images of a scene and calculate the differences (disparity) between the two images. Disparity is inversely proportional to distance, and therefore a qualitative representation of the distances objects are within the images. Presented as a final image where objects are colored by their depth. Red objects are closer to the cameras, while blue objects are farther away

Requirements A pair of images of target environment taken from different points along the baseline A pixel matching algorithm Display resulting depth image.

ADA-397 Camera Module TTL Serial JPEG Camera with NTSC Video Already encodes captured video frames into JPG format Jpegs are accessible via a serial interface With 60° viewing angle, barrel distortion needs to be dealt with

BoofCV library Open Source Java Library for real-time computer vision and robotics applications. Contains Image processing and geometric vision packages Has prebuilt functions for pixel matching and rectification of distorted images Need a Java Run Time Environment, therefore images are sent off board to connected laptop

Transferring and Displaying Images Webserver on board that hosts files using http protocols Java Client on laptop connected to board via Ethernet interface requests a capture and later retrieves them from board memory Once images have been obtained locally, client performs matching algorithm, and displays final results on the laptop’s screen using Java’s Swing interface

Results From Testing

Future Plans Further calibration of cameras Optimization of Camera interface (faster transfer rates) User interface to pick objects from output image to display calculated distances

Live Capture Demo Loading…

Any Questions?