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 a 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
Altera Software Process:
Results
Fig. 2 A unmodified image from the camera
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