Stereo Vision System Principle of Operation: Difference between two cameras gives depth information Steps: –Compute disparity image –Find obstacles in.

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Presentation transcript:

Stereo Vision System Principle of Operation: Difference between two cameras gives depth information Steps: –Compute disparity image –Find obstacles in each column –Approximate with rectangles –Filter in time domain

Challenges Quantization Noise Lighting condition Field of view Occlusion Range

The left camera sees: Point Grey Bumblebee Focal Length: 4mm Resolution: 640x480 Black & White

The right camera sees: Point Grey Bumblebee Focal Length: 4mm Resolution: 640x480 Black & White

Yielding a disparity map: Intensity indicates distance: the lighter, the closer White indicates an invalidated location.

Processing in each column: Intensity indicates confidence that an obstacle exists at that location. A darker line indicates a higher confidence.

Bounding with rectangles: Darker rectangles indicate higher confidence.

Data Representation Reference: ge/TechPapers/Stanford.pdf vs.

Tracking