Variable Baseline Stereo Tracking Vision System Using High-Speed Linear Slider
Variable Baseline Stereo Tracking Vision System Using High-Speed Linear Slider
复制标题
使用高速线性滑块的可变基线立体跟踪视觉系统
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
N. Ohnishi
中科院分区：
文献类型：
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作者：
Y. Nakabo;T. Mukai;Yusuke Hattori;Y. Takeuchi;N. Ohnishi
在本研究中，我们开发了一种使用1ms高速视觉系统和高速线性滑块的可变基线立体跟踪视觉系统。视觉系统跟踪一个移动的物体，捕捉一对立体图像，并在1毫秒内估计出它的距离。它还可以计算立体匹配，并每隔2毫秒估计它的3D形状。高速线性滑块水平和独立移动立体摄像机，因此可以改变基线长度。我们还提出了一种自适应目标距离的基线控制方法。当物体在图像中显得较大时，系统重建其三维形状，当物体在图像中显得较小时，系统仅估计其重心的三维位置。实验结果表明，所提出的基线控制方法提高了深度精度，系统能够对快速运动物体的三维形状进行跟踪和估计。
In this research, we have developed a variable baseline stereo tracking vision system using a 1ms high-speed vision system and a high-speed linear slider. The vision system tracks a moving object, captures a stereo image pair and estimates its distance in only 1ms. It also calculates stereo matching and estimates its 3D shape every 2ms. The high speed linear slider moves stereo cameras horizontally and independently so the baseline length can be changed. We also propose a baseline control method which is adaptive to the distance to the object. When the object appears large in the image, the system reconstructs its 3D shape, and when the object appears small in the image, the system only estimates the 3D position of its center of gravity. The experimental results show that the proposed baseline control method improves the depth accuracy and the system can track and estimate the 3D shapes of fast moving objects.