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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1answer
639 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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1answer
59 views

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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7answers
6k views

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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1answer
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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
131 views

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
124 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 ...
5
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2answers
6k 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 ...
2
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1answer
1k 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 ...
3
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0answers
319 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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1answer
49 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
6k views

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 ...
4
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1answer
131 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
691 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 ...
4
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1answer
483 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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1answer
707 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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1answer
53 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
5k views

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
168 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
1k 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
485 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
4k views

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 ...
6
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3answers
13k 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
1k 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: ...
4
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1answer
156 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
883 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 ...
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2answers
450 views

How to set up binocular cameras on a car?

I am trying to set up my stereo vision system on a car. However, I meet several problems and do not know how to solve them. How to select the baseline? I want the distance measurement to be far at 30 ...
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1answer
4k views

Monocular vs. stereo computer vision robustness for object detection

Are there some genaral rules for the robustness between monocular and stereo vision when considering object detection? I am especially interested in the automotive field - considering distance/...
6
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4answers
384 views

How many methods can I use to acquire depth data?

I am a newbie in Robotics. As far as I know, there're generally two ways to acquire depth information of a scene. One is the stereo vision method which applies two cameras. The other is the RGBD ...
6
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3answers
12k views

Stereo camera Vs Kinect

Any one can advice me on the ideal perception sensors for pick and place application using a robotic manipulator with ROS support. I have generally looked at things like Kinect and stereo cameras (...
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2answers
1k views

Interfacing high-resolution image sensors with ARM Board [closed]

I'm working on a project requiring HD (Stereo) Video Processing. Most of High Resolution (5MP+) Sensors use MIPI-CSI interface. I managed to get a board with an Exynos5 SoC. The SoC Itself has 2 ...
2
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1answer
390 views

Stereo vision on a moving vehicle

When I put stereo camera on a moving platform and sync the cameras, what kind of delay between the cameras is tolerable? This would probably depend on the motion, but are there some guidelines? Are ...
2
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2answers
91 views

Detect road surface in a traffic scene point cloud

I want to analyze a traffic scene. My source data is a point cloud like this one (see images at the bottom of that post). I want to be able to detect objects that are on the road (cars, cyclists etc.)....
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4answers
1k views

Which micro-controler/processor to be used for autonomous stereo vision robot system?

I am very new two robotics, however I have a working stereo algorithm which I want to combine with a SLAM algorithm. I am developing this system for an other application but I decided integrating it ...
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1answer
386 views

Are stereo camera calibration data standardized?

Is there a standard format of how stereo calibration data (various matrices, usually saved in XML) are stored? Can I load calibration data generated say from a OpenCV script in C to another OpenCV ...
3
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1answer
180 views

Stereo camera baseline not needed for calibration?

I am doing stereo camera calibration as described in this blog post. I wonder I do not need to input camera baseline for the calibration. The fact probably goes back to some very basic mathematics of ...
2
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1answer
388 views

Maximum angle between the camera pose to correctly estimate homography

I want to capture two views of same scene. The scene consists of a set of objects kept on a table. From the two views, I wish to calculate homography for image matching. I want to know what is the ...
3
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1answer
1k views

How to obtain stereo correspondences and what exactly is a disparity map?

I am currently reading into the topic of stereo vision, using the book of Hartley&Zimmerman alongside some papers, as I am trying to develop an algorithm capable of creating elevation maps from ...
21
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4answers
14k views

How to select cameras for a stereo vision system?

I am in the process of building a stereo vision system to be used on a UGV. The system is for a robot that will be used in a competition wherein the robot is teleoperated to find relatively small ...

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