1. By: Alex Norton Advisor: Dr. Huggins November 15, 2011
Stereoscopic Imaging for Slow-Moving Autonomous Vehicle Senior Project Proposal Bradley University ECE Department
By: Alex Norton
Advisor: Dr. Huggins
November 15, 2011

2. Presentation Outline Introduction to stereoscopic imaging
Project goals
Previous work
Project description
Preliminary lab work
Equipment list
Schedule of tasks for spring

3. What is Stereoscopic Imaging?
The use of two horizontally aligned, slightly offset cameras taking a pair of images at the same time
By matching corresponding pixels between the two images, the distances to objects can be calculated using triangulation
This depth information can be used to create a 3-D image and terrain map

4. Project Goals Learn theory of 3D stereoscopic imaging
Investigate existing software (OpenCV and MATLAB)
Control cameras
Calibrate cameras
Take and store images
Process images for objects
Correlate objects
Compute distance to objects
Compute terrain map

5. Previous Work BirdTrak (Brian Crombie and Matt Zivney, 2003)
Bradley Rover(Steve Goggins, Rob Scherbinski, Pete Lange, 2005)
NavBot (Adam Beach, Nick Wlaznik, 2007)
SVAN (John Hessling, 2010)

6. Project Description System block diagram Subsystem block diagrams
Cameras
Laptop
Software
Mode of operation
Calibration mode
Run mode

7. System Block Diagram

8. Cameras Subsystem

9. Laptop Subsystem

10. Software

11. Calibration Mode Initial mode of operation
Ensures the accuracy of the terrain map generated in run mode by correcting for lens distortion
Cameras will take images of a chessboard in multiple orientations
Camera intrinsic and distortion parameters can be determined, which are used to correct for distortion in images from un-calibrated cameras

12. Run Mode Primary mode of operation entered once cameras are calibrated
Cameras capture a set of images after receiving signals from the laptop
A disparity map is created using the two images and distances to objects are calculated
This information is used to generate a terrain map which is stored in a text file to be used to navigate an autonomous vehicle

13. Preliminary Lab Work
Current test camera setup

14. Preliminary Lab Work
Left Camera image Right Camera Image

15. Preliminary Lab Work
Edge Detection of Left Image Edge Detection of Right Image

16. Preliminary Lab Work
Represents the differences in corresponding pixels between the left and right cameras
Disparity Map Formed Using Left and Right Images

17. Equipment List Two Logitech Quickcam Express webcams
Compaq Presario CQ60 laptop
Mathworks Matlab
Microsoft Visual Studio 2008
OpenCV
Equipment to be ordered: Two webcams compatible with Windows 7 and Linux

18. Preliminary Lab Work
MATLAB code that sets up the webcams to receive image data from them

19. Preliminary Lab Work
MATLAB code that gets an image from each camera, filters them using the median filter function, uses the canny edge detection function, and displays the filtered images and edge detected images

20. Schedule of Spring Tasks

21. Questions?