Mobile robot designers frequently look to computer vision to solve navigation, obstacle avoidance, and object detection problems such as those encountered in parking lot surveillance. Stereo reconstruction is a useful technique in this domain. The advantage of a single-camera stereo method versus a stereo rig is the flexibility to change the baseline distance to best match each scenario. This directly increases the robustness of the stereo algorithm and increases the effective range of the system. The challenge comes from accurately rectifying the images into an ideal stereo pair. Structure from motion (SFM) can be used to compute the camera motion between the two images, but its accuracy is limited and small errors can cause rectified images to be misaligned. We present a single-camera stereo system that incorporates a Levenberg-Marquardt minimization of rectification parameters to bring the rectified images into alignment.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Single Camera Stereo for Mobile Robot Surveillance


    Contributors:
    McBride, J. (author) / Snorrason, M. (author) / Goodsell, T. (author) / Eaton, R. (author) / Stevens, M.R. (author)


    Publication date :

    2005-01-01


    Size :

    648973 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Beyond the Baseline: 3D Reconstruction of Tiny Objects with Single Camera Stereo Robot

    De Gregorio D. / Poggi M. / Zama Ramirez P. et al. | BASE | 2021

    Free access

    CRANE SURVEILLANCE CAMERA AND MOBILE CRANE

    KAJIKAWA HIROTAKE / KAKEI MUNEKAZU / MIYAJIMA TOSHIYUKI | European Patent Office | 2019

    Free access

    STEREO CAMERA

    YAMAZAKI KAZUYOSHI / ISHII TOSHIKI | European Patent Office | 2021

    Free access

    Stereo camera

    YAMAZAKI KAZUYOSHI / ISHII TOSHIKI | European Patent Office | 2022

    Free access

    STEREO CAMERA

    HAGA TAKESHI | European Patent Office | 2020

    Free access