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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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Drawbacks of image rectification for 3d reconstruction

When running 3d scene reconstruction algorithms using monocular camera systems you can choose to rectify each pair of images or do 3d reconstruction with unrectified pairs using epipolar geometry. ...
FourierFlux's user avatar
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Calculate disparity for matching feature points

If I have matched a pair of feature points, could I calculate its disparity by simply subtract the u coordinates(uL - uR)? And could use this disparity to calculate the depth for this 3d point? ...
Ben's user avatar
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RTABMAP with stereo cameras, mapping along the wrong axis, and odometry is all over the place

I"m trying to setup a robot to do stereo mapping with rtabmap, and depthai's Oak-D-Pro cameras. Mainly testing with gazebo at the moment. When I rotate the robot in gazebo the TF tree rotates ...
tmayoff's user avatar
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opencv StereoSGBM disparity parameters

In my setting I am using a stereo camera which has a baseline of b = 0.092m and a focal lenght in pixels of fx = 256.667. So that when I want to constrain my setup to detect points up to a maximum ...
kilianf's user avatar
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I am trying to use opencv_cam pkg in ros2 humble with a csi stereo camera imx219-83 in a jetson nano and I get green screen

I am trying to use opencv_cam in ros2 humble for a csi stereo cam in a jetson nano. When I run the node : ros2 run opencv_cam opencv_cam_main ,it publishes the ...
Thiago Blanco's user avatar
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22 views

Estimating extrinsic parameters in stereo vision via sensors

I have multiple (around 6) cameras with a distance of around 4 meters to each other filming an object and I want to reconstruct the 3D shape of it. The cameras are attached to tripods and thus can be ...
NMO's user avatar
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How to compute estimated variance for each disparity value?

I am trying to implement the paper titled Free Space Computation Using Stochastic Occupancy Grids and Dynamic ProgrammingHerńan Badino, Uwe Franke, Rudolf Mester available at this link The overview (...
vyi's user avatar
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How to get an axis in camera coordinate system pybullet?

I am using pybullet to render a robot simulation. This robot have 2 joints and hence, 2 corresponding axes of rotation. I know that when I use getJointInfo on this ...
Anmol Gupta's user avatar
1 vote
1 answer
234 views

Making sense of disparity values after applying `StereoSGBM` from OpenCV

I just started with Kitty Stereo Dataset (2015). The first thing I did was compute the disparity using the stereoSGBM class. And here is the rectified input images ...
vyi's user avatar
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68 views

Stereo Bundle Adjustment

When doing stereo based visual odometry and bundle adjustment how does the stereo constraint get factored into the photometric error? Do you use the fact the second cameras location is known wrt the ...
FourierFlux's user avatar
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How does dense mapping/voxel occupancy grid map work with bundle adjustment?

When running for example some version of Orb Slam with stereo vision you're using sparse features for tracking but you can also infer a full depth map. I am curious how you use that full depth map to ...
FourierFlux's user avatar
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Calculating the depth in a general stereo vision system

When calculating the depth of a pixel using two cameras, most of the literature I have read describes stereo vision with the cameras having parallel optical axis as shown in the picture below. Because ...
NMO's user avatar
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292 views

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 ...
Kaapeine's user avatar
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43 views

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. ...
Gulzar's user avatar
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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 ...
noam steiner's user avatar
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163 views

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 ...
user3234005's user avatar
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267 views

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 ...
DragonflyRobotics's user avatar
1 vote
1 answer
590 views

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 ...
DragonflyRobotics's user avatar
1 vote
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39 views

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 ...
FourierFlux's user avatar
1 vote
1 answer
271 views

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 ...
user27536's user avatar
2 votes
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52 views

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 ...
Joaquin Gonzalez's user avatar
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2 answers
90 views

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, ...
FourierFlux's user avatar
1 vote
0 answers
101 views

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)...
Rexcirus's user avatar
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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 ...
Raj's user avatar
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193 views

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 ...
fraukejr's user avatar
3 votes
1 answer
105 views

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 ...
xen20's user avatar
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1 vote
0 answers
36 views

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 ...
r4bb1t's user avatar
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42 views

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 ...
r4bb1t's user avatar
  • 161
0 votes
1 answer
91 views

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 ...
simplename's user avatar
2 votes
0 answers
56 views

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 ...
r4bb1t's user avatar
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2 votes
1 answer
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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 ...
r4bb1t's user avatar
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1 answer
35 views

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 ...
vyi's user avatar
  • 215
0 votes
1 answer
283 views

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 ...
simplename's user avatar
2 votes
2 answers
675 views

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 ...
S.E.K.'s user avatar
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1 answer
74 views

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 ...
Edmund's user avatar
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3 votes
1 answer
417 views

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, ...
Guangshen Ma's user avatar
1 vote
0 answers
58 views

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?
Iron Fist's user avatar
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2 votes
0 answers
129 views

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 ...
Ashish Rao M's user avatar
1 vote
0 answers
68 views

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 ...
Geek's user avatar
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3 votes
1 answer
161 views

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 ...
Ashish Rao M's user avatar
3 votes
1 answer
2k views

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 ...
Giuseppe Sensolini's user avatar
0 votes
1 answer
16 views

How to set tag arguments of stereo camera plugin (libgazebo_ros_multicamera.so)?

I have some questions about how to use "libgazebo_ros_multicamera.so" plugin. what does tag arguments mean ? Some arguments are both set in and , for example distortion arguments like , ...
user avatar
1 vote
0 answers
216 views

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 ...
Malhar 's user avatar
1 vote
0 answers
150 views

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, ...
Sepehr's user avatar
  • 111
1 vote
2 answers
280 views

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 ...
Shivanand's user avatar
1 vote
0 answers
104 views

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....
vinjk's user avatar
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2 votes
0 answers
95 views

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 ...
sykatch's user avatar
  • 121
1 vote
1 answer
575 views

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 ...
Kozuch's user avatar
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2 votes
1 answer
67 views

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 ...
Jogging Song's user avatar
0 votes
1 answer
377 views

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 ...
Jogging Song's user avatar