17 votes

Why people use camera instead of laser sensor for robot navigation?

A 3D laser range finder or LIDAR such as the one on the Google Car is far more expensive than a camera. The other reason is that while in case of a LIDAR the distance of every pixel is available, the ...
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13 votes
Accepted

Hand Eye Calibration

After solving the problem, I created a keynote presentation explaining many details about hand eye calibration for those that are interested. Practical code and instructions to calibrate your robot ...
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9 votes

Camera selection for long range stereo vision system (up to 100 meters)

I still think this is off-topic, but it seems I need more space than a comment to show (answer?) why that is so. You are starting from some performance specifications and are looking to get to a set ...
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  • 14.5k
6 votes
Accepted

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

Stereo vision and SLAM are pretty heavy algorithms, both in terms of the processing power and RAM required. You can forget about running this on a little microcontroller like an Arduino. These run at ...
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  • 6,337
6 votes

How can I improve ZED Camera precision?

I don't know what you mean by "precision" and how do you measure it. The sensing accuracy will probably go back to the camera calibration precision and the stereo matching algorithm used. If they ...
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  • 623
5 votes
Accepted

Are there any advantages to using a LIDAR for SLAM vs a standard RGB camera?

My question: are there cases where you'd still need a LIDAR or can this expensive sensor be replaced with a standard camera? ... A each one of them has its advantages/disadvantages. Thus in some ...
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  • 309
4 votes
Accepted

Stereo camera Vs Kinect

The Kinect is certainly a popular choice these days for robotics. However, time-of-flight, structured light, and stereo cameras all have their own strengths and weaknesses. These two threads have a ...
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  • 5,215
4 votes

algorithm Simple Stereo Vision

The first thing is to make sure that the cameras will get the coordinates of the object at the same time (I don't know if Pixy has a FREX or STROBE signal for synchronization), or that the object is ...
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  • 41
4 votes

Question for those who have experience using stereo cameras/module (e.g. ZED, DUO M, Bumblebee, etc.)

My experience with ready-made stereo solutions is that they (as @Ben has said) provide you with synchronized image pairs and well-defined baseline geometry. If you are on a low-budget, and you have ...
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  • 872
4 votes

Computer stereo vision simulator

I highly advise against using synthetic image data for testing your stereo vision algorithms. What will happen is that you end up with a system that works excellent on your synthetic data, but poorly ...
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4 votes

Why people use camera instead of laser sensor for robot navigation?

In addition to those points in Bence's answer, cameras can: Calculate many complex features that result in very robust matching between frames, and object recognition High angular resolution (typical ...
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  • 872
4 votes

Why are two cameras mounted in paralle in stereo application?

Each camera needs to be defined by 6 variables (3 position, 3 orientation). This would mean that during the calibration process, a solver needs to find 12 variables. As this is done usually with an ...
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3 votes
Accepted

Fast C++ library for stereo vision/disparity computation

I'll try to answer this question on my own, but feel free to add more information on that. We tried OpenCV's standard disparity function, but it fell short mainly because of item #4. Further, it is ...
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  • 121
3 votes
Accepted

Simple way of 3d perception

The best answer is probably going to be an ultrasonic sensor on a servo, you can get them in a huge range of values, from very close to very far range depending on your application, and varying beam ...
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  • 1,909
3 votes
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How many methods can I use to acquire depth data?

Actually kinect sensors are similar to stereo-cameras. They are made up of two devices, an IR emitter and a IR receiver. The emitter projects a light-dots pattern of known shape and size, while the ...
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3 votes
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Interfacing high-resolution image sensors with ARM Board

I would like to suggest you to use Beaglebone Black , it is smaller than size compared to Raspberry pie. It is just the size of a credit card. And has a faster processor of 1 GHz and has an inbuilt 3D ...
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3 votes

Are stereo camera calibration data standardized?

The short answer is no. You can use the XML output file within OpenCV's ecosystem (and ROS), but there are no standard formats for calibration. The issue is not coming up with a standard. Camera ...
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3 votes
Accepted

Kinect VS Stereo cameras

Kinect: Pro: cheap already calibrated active system (works also on textureless surfaces) dense stereo Con: defined range (low maximal range) does not work good outdoors in direct sunlight Stereo: ...
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  • 1,335
3 votes
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Difference between 3D Camera(using IR projection) and Stereo Camera?

"3D camera" is a generalisation that covers sensors that can observe a point-cloud or depth map of the scene they are observing. Some 3D cameras use a projector (via various ways) to improve the ...
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  • 872
3 votes

Why people use camera instead of laser sensor for robot navigation?

navigation in urban environments Depending on the laser, there might be legal constraints on where you can use it. Running around town throwing laser rays around might require special permission/...
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3 votes

Stereo Camera calibration with different camera types

It looks like what I saw when a colleague of mine was working with fisheye lenses; I found this post after doing an image search for "rectify fisheye image" and following the link from this picture. ...
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  • 14.5k
3 votes

Estimate Disparity Error for Depth Accuracy Estimation

The answer is that the Disparity error depends on the accuracy of the matching algorithm which matches the points in the two images. Some of these algorithms have an accuracy of one pixel, some ...
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  • 91
3 votes

Camera selection for long range stereo vision system (up to 100 meters)

I'll try to explain this in terms of software. Firstly, it is just next to impossible to have 100 metres (practically, 3 metres is like the best depth accuracy) and we need to be sure that the cameras ...
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2 votes

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

Arduinos are slow. They run at 16mhz and don't normally have more than 10 kb of ram (the due has more, but still well under 1 mb. I personally would look into a beaglebone or udoo as they are both a ...
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  • 420
2 votes

Stereo camera baseline not needed for calibration?

The baseline is an output parameter of the calibration. What the calibration needs to know is the size of your calibration object. How it works is to find the transformation between the two views, and ...
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  • 2,954
2 votes

Stereo camera Vs Kinect

The Structure sensor is a "3D sensor for mobile devices". Reading over the details it sounds like a smaller version of Kinect. It has open source drivers, openNI support etc. It's been on my to buy ...
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2 votes

Monocular vs. stereo computer vision robustness for object detection

Two videos that you provided are not doing the same task. The stereo system is just measuring distance of different points in space (which happens to include a car in that video). It will show any ...
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  • 306
2 votes

How many methods can I use to acquire depth data?

I know you said "not considering laser based detectors," but I am assuming you are discounting them due to price? There is a LIDAR unit available from sparkfun for less than $100 which claims to have ...
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  • 1,027
2 votes

Detect road surface in a traffic scene point cloud

RANSAC is usually used to segment planes from the point cloud (see: http://www.pointclouds.org/documentation/tutorials/planar_segmentation.php). As an alternative, when you detect objects that are ...
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2 votes

How to interpret the result of image rectification?

In Stereo Vision, image rectification is used to "warp" (remap the pixels using the translation, rotation, fundamental matrices computed from camera calibration) the image to remove distortions ...
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