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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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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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Coordinates (x,y,z) accuracy in the physical space - question for experienced users of stereo cameras (e.g. ZED, DUO M etc.) [duplicate]

I am starting to work on a strawberry-robot-picker project and planning to use stereo cameras (e.g. ZED) to locate where the strawberry is (i.e. its coordinate x,y,z in the physical space) and pass ...
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Transforming incremental pose from camera frame to wheeled robot base frame

I compute odometry using the stereo camera by minimizing reprojection error. I compute the incremental pose change between frames from time t-1 and t. The odometry is referenced to the left camera ...
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remote 3d slam with limited sensing and bandwidth

I'm trying to implement a 3d visualization for a remotely operated robot, which will be equipped with either stereo grayscale cameras or one grayscale camera and a line striping system that can ...
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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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56 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, ...
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2answers
74 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 ...
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57 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....
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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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343 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 ...
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1answer
44 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 ...
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158 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 ...
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218 views

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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1answer
42 views

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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164 views

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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336 views

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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2answers
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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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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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2answers
2k views

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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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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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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466 views

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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2answers
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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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2answers
643 views

Stereo Camera calibration with different camera types

I'm trying to perform stereo camera calibration, rectification and disparity map generation. It's working fine with normal sample data. However, I'm trying to use the dual cameras on an iPhone 7+, ...
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426 views

Stereo camera vs. one camera for player detection & ball tracking in basketball scenes?

There are a number of similar questions such as Monocular vs. stereo computer vision robustness for object detection, but none that address my question specifically. My weekend project is to build a ...
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Is it possible to detect road surface or navigation area using LRF data or other laser data in a Park?

I would like to detect road surface in a park. In the park, only small grass are covered with the both side of the road. That means there is road and the both side of the road are covered by small ...
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Why people use camera instead of laser sensor for robot navigation?

I am working on Robot localization and navigation in urban environments. I want to use Camera. But I am a little bit confused about LRF data or other laser data. Why people want to use camera? why ...
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Are there any advantages to using a LIDAR for SLAM vs a standard RGB camera?

I've been thinking about building a small UAV with an onboard LIDAR, just for fun. I'm interested in SLAM and autonomous flight indoors and thought that I would need a lidar to get a 3D map of the ...
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1answer
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Once matching features are computed between a stereo pair, how can they be tracked?

I am currently working on a SLAM-like application using a variable baseline stereo rig. Assuming I'm trying to perform visual SLAM using a stereo camera, my initialization routine would involve ...
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0answers
90 views

Stereo vision for outdoor obstacle detection [closed]

I'm trying to detect obstacles for a distance of up to 10 meters in an outdoor environment. Up to meaning that I also want to be able to detect obstacles that are close to the robot. I am thinking of ...
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2answers
4k views

Difference between 3D Camera(using IR projection) and Stereo Camera?

I am currently busy with a final year project which requires me to track people walking through a doorway. I initially thought this may be possible using a normal camera and using some motion ...
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1answer
859 views

Stereo Vision Using Compute Module: Pi camera synchronization

Good day, I am currently working on an obstacle avoiding UAV using stereo vision to obtain depth maps. I noticed that the quadcopter would sometimes not steer to the correct direction. I am using ...
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219 views

Triangulation from calibrated stereo rig

I am using a stereo rig to do SLAM, calibrated using the MATLAB Calibration Tool. I need to compute the 2D coordinates of a landmark using the observation model obtained from triangulation (the images ...
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33 views

Cosine interpolation between two transformation matrices?

Is it possible to perform cosine interpolation between two transformation matrices? It make sense for the translation part, but how about the rotational part?
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2answers
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How can I improve ZED Camera precision? [closed]

I'm using Stereolabs ZED camera for my computer vision project. I did a small research about several sensors on the market and ultimately we decided to go with the ZED Camera. However I'm finding ...
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1answer
110 views

Performing inverse kinematics based on a displacement of the end effector?

I think i have an simple problem, but can't my head around how i should resolve it... My setup looks like this: The grey box on end effector is supposed to be an camera, which measures a dx,dy,dz ...
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2answers
426 views

Computer stereo vision simulator

In my research project I deal with a mobile robot that perceives through stereo vision. As the stereo input data I currently use several datasets taken from a passenger vehicle that contain real world ...
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1answer
166 views

How to interpret the result of image rectification?

I've been trying to understand image rectification. Most of the time the result of image rectification is illustrated by the original image (i.e the image before rectification) and the rectified image,...
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546 views

Kinect VS Stereo cameras [closed]

As I'm advancing in my project I realized I need better hardware, particularly for video input and processing. From an intuitive feeling sounds like stereo cameras offers a more powerful and flexible ...
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50 views

How to efficiently do 3D mapping of an area on a MAV?

I have been researching on a cost-effective way to scan an area on a MAV (exploraton) and later use it for CAD/civil purposes(use the point cloud data for CAD) but the major sensors available have ...
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2answers
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Question for those who have experience using stereo cameras/module (e.g. ZED, DUO M, Bumblebee, etc.)

This is a question for those of you who have experience using stereo cameras/modules like the ZED, DUO M, Bumblebee cameras, etc. (not TOF cameras). I can't find any sample disparity outputs out there ...
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1answer
112 views

Discover vector/angle between stereo camera pose and vehicle body

I have a calibrated stereo camera system that is mounted in a passenger car which means I am able to retrieve a point cloud from my stereo image. However, I need to find how well is the camera aligned ...
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1answer
729 views

Selecting hardware: stereo camera for beginners [closed]

I'm looking for some cheap hardware that would offer me results decent enough to continue my experimentation. I've been looking into how to obtain hardware for learning about stereo vision and 3D ...
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1answer
329 views

Stereo vision in Matlab [closed]

I am working on a project about robot soccer vision. How I utilize two webcams as a stereo vision in matlab for robot soccer matters?
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2answers
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Fast C++ library for stereo vision/disparity computation [closed]

I am looking for a library for disparity map / stereo vision computation. These are my requirements: C++ Multi-platform (Linux, Windows, OSX) (preferrable but not mandatory) not CUDA based Suited for ...
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3answers
6k views

Hand Eye Calibration

I'm trying to use a dual quaternion Hand Eye Calibration Algorithm Header and Implementation, and I'm getting values that are way off. I'm using a robot arm and an optical tracker, aka camera, plus a ...
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1answer
645 views

How to get the projection matrix from odometry/tf data?

I would like to compare my results of visual Odometry with the groundtruth provided by the KITTI dataset. For each frame in the groundthruth, i have a projection matrix. For example: ...
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1answer
141 views

Simple way of 3d perception

I wonder is there any simple (can be computed in microcontroller level) option which is suitable for 3d object perception (depth, position, pose or coordinate estimation) of flying robots except LIDAR,...
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3answers
796 views

algorithm Simple Stereo Vision

I'm working in a project implementing a vision system. I'm a student and this is the first time I'm doing something like this, it has been a challenge. I'm using a controller (Netduino+2, .Net ...