Research of the High-Speed Fusion of Disparity Images from Two Orthogonal Stereo Pairs

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The results obtained in this research are summarized as follows :(1) By taking the photography of the image reflected from a nose placed beside a camera simultaneously with an object image, the image can be obtained that is not affected by the illuminance and color of a light source. The surface of the reference nose is designed such that it can reflect the blurred image of the object, and the small image part beside the main image is utilized to the correction of all pixels corresponding the ones in the main image. The mapping is influenced slightly by the image depth but the influence can be reduced by placing the reference nose nearer to the lens position.(2) This study allowed to obtain the depth to every point of the planar surface using stereo camera method, and showed that measurement of the depth also to the curvilinear surface became feasible by painting the vertical color stripes on the surface.(3) The detection of the color boundary lines nearly parallel to video scanning lines is difficult by using the method of detecting the characteristic points along also those lines. A video-rate range finder has been developed to measure the depth to the color boundary lines at any angles including parallel boundary lines. This finder employs a pair of stereo cameras and each stereo axis connecting a pair of cameras is then set at right angle to each other, the one is placed horizontally and the other vertically against the floor. All the signal processing is carried out by electronic circuits, thus enabling the video-rate measurement of the distances to color marks without loading a control computer installed in an autonomous running vehicle.(4) Performances such as the correct and the acquisition ratios in depth measurements have been increased by combining the depth data obtained by the pair cameras. This study established the ground of the measurement and the configuration of the devices, and showed that this method is effective in the depth measurement.