Depth Analysis With Stereo Camera ECE 492 - Computer Engineering Design Project Depth Analysis With Stereo Camera Timo Hohn and Leo Nickerson 2013 Overview Depth perception is an evolutionary trait that most people take for granted. It has proven to be rather difficult to replicate this trait in computer systems. This project purposes to produce a depth sensing system for computers which could be used in numerous systems. The core components for this project consist of a pair of cameras, a webserver being run on the Altera DE2 board, and a client program run on a secondary device. Depth Finding Program The program used to find the depth is run on a client machine and uses disparity mapping to find the depth of the images. It works in the following way: Obtain images from the webserver being run on the Altera DE2 board Correct any distortion present in the images due to the lenses of the cameras using a barrel distortion. Match pixels using a window based matching algorithm, calculate the disparity value, and color the pixels accordingly Disparity corresponds to the difference in the position of a given object is in the images. The closer together the object is in the images the greater the disparity. Hardware Diagram: Fig. 1 The stereoscopic camera hooked up to the Altera DE2 board Results Altera Software Process: Fig. 2 An unmodified image from the left camera Fig. 3 The image from Figure 2 having been rectified and corrected for distortions Fig. 3 The final image after it has been run through depth finding algorithm For colour ideas, University Visual Identity Guidelines can be found here: http://www.toolkit.ualberta.ca/VisualIdentityGuidelines.aspx Objectives Camera: Able to communicate and control the camera so that pictures are able to be taken and downloaded from the camera. Web Server: The DE2 board is able to be configured to run a webserver that can communicate with and send data to a client Client Program: Able to communicate with and receive data from the web server being run on the board, As well as processing received image data to find image depth. Department of Electrical & Computer Engineering