1. Application of Stereo Vision in Tracking *This research is supported by NSF Grant No. CNS 1005212. 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

2. Overview Definition and Uses Related Work Implementation Research and Current Problems

3. Definition What is stereo vision? Why is it used?

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

5. How It Works

6. D = f * [ (b/(v1 + v2)) - 1] National Instruments, http://zone.ni.com/devzone/cda/tut/p/id/8176 How It Works

7. Left Camera Image Disparity Image

8. Research and Problems Optimized Object Detection Single/Multiple Object Tracking

9. Left Camera Image Disparity Image

10. National Instruments – Developer Zone: Robotics Fundamentals, December 10, 2008 URL: http://zone.ni.com/cms/images/devzone/tut/tlmqnfhd36037.jpghttp://zone.ni.com/cms/images/devzone/tut/tlmqnfhd36037.jpg Se, S.; Lowe, D.; Little, J.;, "Vision-based mobile robot localization and mapping using scale-invariant features," Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, vol.2, no., pp. 2051- 2058 vol.2, 2001 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=932909&isnumber=20183http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=932909&isnumber=20183 Richard Hartley; Andrew Zisserman; “Multiple View Geometry in Stereo Vision”, 2003 References