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Stereo Vision System

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

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Stereo Vision System

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  1. 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

  2. Challenges • Quantization • Noise • Lighting condition • Field of view • Occlusion • Range

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

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

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

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

  7. Bounding with rectangles: Darker rectangles indicate higher confidence.

  8. Data Representation vs. Reference: http://www.darpa.mil/grandchallenge/TechPapers/Stanford.pdf

  9. Tracking

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