A Stereovision System for 3-D Perception
A Stereovision System for 3-D Perception
复制标题
用于 3D 感知的立体视觉系统
DOI：
--
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
A. Knyš
中科院分区：
文献类型：
--
作者：
A. Lipnickas;A. Knyš
介绍了 3D 感知立体视觉系统的研究结果。 3D空间数据可以从一对2D图像重建，给出了立体视觉的基础和计算方程。还调查了深度估计的误差以及最小化它的方法。介绍了系统的硬件设计以及同步相机的方法，以避免由于异步帧捕获而导致错误的地图重建。实验研究结果：使用 6 mm 和 2.5 mm 镜头在一定视差下测量和推断的距离，以及距离测量分布的误差。结果表明，使用长焦镜头对于远距离感知更有用。结果还表明，所调查的系统适用于自主机器人导航系统。疾病7，圣经。 8（英文；摘要有英文、俄文和立陶宛文）。
The results of investigation on a stereovision system for 3-D perception are presented. A 3-D space data can be reconstructed from a pair of 2-D images, the basis of stereo vision and computation equations are given. Also error of depth estimation and ways to minimise it are surveyed. The systems’ hardware design and the ways to synchronise cameras to avoid incorrect map reconstruction due to asynchronous frame capturing are presented. The results of experimental investigation: measured and extrapolated distances at certain disparities using 6 mm and 2.5 mm lenses, error of distance measurement distribution are presented. The results show that usage of longer focus lenses is more useful at long range perception. Also the results show that the system surveyed is suitable for autonomous robot navigation system. Ill. 7, bibl. 8 (in English; summaries in English, Russian and Lithuanian).