Questions tagged [stereo-vision]

stereo vision is the extraction of 3D information from digital images, such as obtained by a CCD camera.

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Essential Matrix constraint violated, computed using numerical libraries only

Lets say that I have eight pairs of correspondance points taken from two images (left and right). Also, I know the intrinsic matrix (K) of both cameras (is the same). I'm trying to find the Essential ...
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Uncontrolled drift of Visual Inertial Odometry

I'm trying to use the VINS-Fusion package to obtain odometry for a quadcopter. The primary sensor is an Intel Realsense D435i. I've calibrated the camera and IMU extrinsics using Kalibr. IMU ...
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How to find fundamental matrix based on other fundamental matrix and camera movement?

I am trying to speed up some multi-camera system that relies on calculation of fundamental matrices between each camera pair. Please notice the following is pseudocode. ...
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Explanation of the epipolar constraint in stereo imaging

I am watching this video, in which the epipolar constraint is defined as $x_l \cdot (x_l \times t)=0$ It means that the vector $x_l$ that passes through the observed point and the left camera origin ...
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Cheap global shutter cameras with external synchronization

Please recommend cameras for multi-camera setup satisfying the following conditions: Relatively cheap (up to 100$ per camera). Global shutter. No filters on lenses or pixels. Resolution of 1 MP or ...
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ROS Publish Stereo Image From 2 USB Cameras

I have two monocular USB cameras and I want to use ROS to make it a stereo camera. I am having a hard time finding a ROS package that consumes 2 monocular camera image streams and publishes a depth ...
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Use 2 Cameras as 1 Stereo Camera

I have one Picamera and one normal USB Webcam and would like to use them together as one stereo camera. Is this even possible as the 2 cameras aren't exactly the same? I would like to use them in ROS ...
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Ground based path generation from RGBD camera

How does one generate a trajectory for a ground vehicle using an RGBD camera? For a drone it's simpler since you're not constrained by having to move on the ground but it's not clear to me how ...
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Mono VIO vs. Stereo-Camera to recover Depth Information

I have a question. I have found some papers, where they use a Mono-VIO to recover depth of a scene. My question is: Suppose I have a robot arm and attach a mono-VIO system to it. Then I move this arm ...
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Choosing cameras for stereo vision system?

I'm in the process of building a stereo vision system with YOLO detection. The system have to detect airplanes in far distance and also measure the depth from the airplane to the camera. I think ...
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Trajectory planning in unstructured environments

How is trajectory planning normally carried out in off-road/unstructured environments? In particular I'm interested in how stereo vision can be used to plot trajectories over obstacles - for example, ...
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Size of smallest feature from pixel depth resolution

How do I get the size in mm of the smallest feature a depth camera can detect? Known variables are: distance from the target (for instance 1 meter), depth resolution in pixels (for instance 1280 x 720)...
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How can I calibrate 3 cameras without knowing global pose of the object & camera locations? How can I find the pose of each camera wrt the first one?

I have camera feed (in the form of RGB images) from 3 cameras with partially overlapping Field-of-view i.e. for the time stamp 0 to 100, I have total 300 frames or say synchronized 100 RGB frames for ...
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How is the depth estimation done in DTAM / LSD-SLAM (direct VSLAM)?

I know that DTAM and LSD-SLAM both employ the photometric error between two keyframes to estimate the image depth. But I don't know what the photometric error describes precisely. In the DTAM paper, I ...
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Assistance in finding correct LIDAR for short-range object detection task [closed]

I am working on a task that involves finding a distance of a moving object going a static linear object, e.g a long pole. After trying some approaches (mostly involving stereo vision), I have come up ...
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Triangulation in Stereo-Vision?

I need some help in 3D Positioning system I'm trying to set up. At the moment I am using 2 Calibrated cameras, my strategy is to place an AR Marker on the scene, identify the position of the AR Marker ...
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Single Camera + Laser Projector Triangulation

I want to combine a laser line projector (projects a laser plane) and a single web camera to determine the X, Y, Z position of the laser point. I am slightly confused as to how to use the fact that we ...
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Tracking 3D motion using a stereo camera

Assuming you have a fixed stereo camera, looking at a rigid object, what are the techniques used to track the object? My google searches lead me to optical flow and similar algorithms, but I believe ...
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Disparity error in active light stereo systems?

Based on this relationship, if we have to estimate the 'disparity error' of a stereo system which uses active light on the scene - can we estimate the disparity error to be very small? According to ...
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Active Light Stereopsis: 1 Camera + Projector Vs. 2 Camera + Projector

What is the difference between using 1 Camera and a Projector and using 2 Cameras and a Projector for creating structure from motion? Is it that if we use only 1 camera and a projector then we will ...
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Number of pixel comparison needed to establish correspondence

I am reading the paper titled Variable Baseline/Resolution Stereo David Gallup, Jan-Michael Frahm, Philippos Mordohai, Marc Pollefeys Section 3 of the paper talks about the time complexity of the ...
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disparity error to x and y accuracy

This question talks about the depth error ($\Delta$Z) as a function of disparity error ($\Delta$D). I want to do the same for X and ...
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How does structured light improve accuracy in stereo vision?

In my understanding, in order to improve accuracy for the estimation of depth with a stereo vision camera, patterns of light are projected into the scene, because the resulting texture makes it easier ...
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Questions about customized stereo camera

I am designing my robot and I have quite design issues with the available stereo cameras on a market. For the prototype I am using ZED M but it is too expensive and quite large. The question is, do ...
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Short range stereo vision

I am designing a stereo vision system for short depth range (15 cm to 35 cm) and I have some problems about baseline, focal length and depth range. My application is to scan an animal tissue (meat, ...
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Stereo-Calibration with Variable focal cameras

Is it possible to perform stereo-calibration with cameras having variable focus? and if so, how is it done basically?
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Stereo Rectification when Extrinsics are known

Suppose I have two cameras $C_1$ and $C_2$ arranged in a stereo configuration. Let us assume that the camera is free of distortion with ideal intrinsics and that the camera extrinsics $R$ and $t$ are ...
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Tracking object in realtime using depth image stream from a RGBD camera

I have an Intel RealSense camera which can stream RGB and depth image. Using those information I want to track an object moving on a table top. More specifically, I want to know position $(x,y)$ and ...
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Setting up a Structured Light Stereo system

I am trying to get started with a stereo experiment and wanted to know the mistakes I might have made during the experiment. The goal is to calculate the depth map of an object using one light ...
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3 votes
1 answer
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Trigger two usb cameras at the same time

I'm studyng stereo cameras, and I want to build one. I searched a lot in internet, and the opinions are quite different about this topic. Basically, my question is: Can I synchronize two usb ...
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Stereo vision setup to obtain depth map

I am currently working on a project that requires me to obtain depth information and point cloud map of objects in an indoor environment ( roughly twice the size of a normal room). I would like to ...
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Camera calibration sequence with ground truth data

I'm looking for a SLAM dataset (monocular or stereo) specifically with a checkerboard, meaning the camera always has a checkerboard in frame. Most popular datasets provide calibration sequences, ...
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Depth sensing for a pick-and-place robot

I am supposed to design a pick-and-place robot. I have a prismatic joint to go down to a particular depth to pick an object which is located in 2D using computer vision. What is the recommended way to ...
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Accuracy of stereovision camera

I want to use stereovision to get 3D coordinates of a point in the camera's frame. Let's say, I can zoom in and click in the image to select my point of interest. I want an accuracy of about 0.05 - 0....
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Effectiveness of visual odometry algorithms (CPU usage)

My robot needs to obtain visual odometry, with a condition that the used algorithm has to have as low computational requirements as possible and the used camera/sensor shouldn't be very expensive. The ...
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Forward monocular stereo vision (Structure from Motion)

I am looking for a library (or algorithm) that computes 3D scene (point cloud) from 2 consecutive images of a monocular sequence. I mean something like OpenSfM but only for 2 consecutive frames and ...
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Correct calibration parameters of stereo system due to vibrations

In stereo vision, the camera is calibrated using the popular chessboard before use. During the course of use, the camera maybe be subject to environmental factors such as vibrations.This may cause ...
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setup requirement of stereo camera

In the stereo camera system, two cameras are needed and should be mounted side by side. I see someone just glues two cameras to a wooden board. However one mobile phone manufacture claimed that the ...
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Effect of camera misalignment errors in dual cameras

In the camera module assembly process, parameters of camera modules vary due to manufacturing tolerance. Camera calibration is performed to obtain actual parameters. In the paper Effects of camera ...
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2 votes
1 answer
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Is there a better way to deal with untextured regions in stereo matching

Texture is very helpful for stereo matching. However in real environment, untextured areas always exit. Consistent semi-global matching is proposed to deal with untextured regions. I start to read the ...
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Google's 'Tango' - How it works and what's special about the hardware?

I'm looking for a good breakdown and explanation of Google's 'Tango' AR platform. Specifically how the hardware works together to generate depth maps and the SDK's use of it. I know the hardware ...
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2 votes
2 answers
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Using Standard Digital camera for Computer Vision

For a University project I have to use computer vision to detect small drones within 40 feet. I know there exists a pixycam for this purpose, but I was not happy with it, when I used it for CV. I ...
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6 votes
3 answers
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Camera selection for long range stereo vision system (up to 100 meters)

I want to implement a real-time stereo vision system for long range (up to 100m) depth estimation. I know that there are some general considerations as described in this SOV post. I have seen some ...
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3 votes
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real-time stereo vision system for long range (up to 100m) depth estimation

I want to implement a FPGA-based real-time stereo vision system for long range (up to 100m) depth estimation. Also, I want to use two ip cameras in the system. I have calculated depth error using the ...
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6 votes
2 answers
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Estimate Disparity Error for Depth Accuracy Estimation

I would like to get a rough estimate of the depth accuracy / uncertainty of a stereo camera system. For this I would like to use the basic formula in the attached image. What is still unclear to me is ...
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Scaling monocular SLAM with another source?

I have implemented a stable monocular slam tracking system, based on ORBSLAM2. I am trying to find a way to add real-world distance/scale to this. At the same time, I am running a (less stable) ...
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4 votes
2 answers
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Why are two cameras mounted in paralle in stereo application?

For stereo cameras on the market, two cameras are always mounted side by side and with a displacement that is perpendicular to the cameras’ optical axes. I take this setup for granted. One idea came ...
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2 votes
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What is the effect that the size of the correlation window (in pixels) has on the matching performance of stereo algorithms?

While stereo algorithms perform matching, they usually compare pixels within a region around the feature. I would like to know what effect the size of that search window has on the matching ...
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1 vote
2 answers
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Stereo camera pair focal lengths

I came across the standard representation of stereo cameras where they are side to side and the epipolar lines are the same image scan line and the cameras have the same focal length. Source: http://...
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4 votes
2 answers
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Depth accuracy of the stereo camera

I am doing a project on calibrating stereo ZED camera and finding its accuracy and compare with the Manufacturer's accuracy of 1% at 1m depth accuracy. For this purpose , the formula to calculate the ...
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