1. Depth Analysis With Stereo Camera
ECE 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:
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