Presentation is loading. Please wait.

Presentation is loading. Please wait.

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

Similar presentations


Presentation on theme: "Stereo Vision System Principle of Operation: Difference between two cameras gives depth information Steps: –Compute disparity image –Find obstacles in."— Presentation transcript:

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 Reference: ge/TechPapers/Stanford.pdf vs.

9 Tracking


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

Similar presentations


Ads by Google