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

本研究取得的结果概括如下：(1)通过将放置在相机旁边的鼻子反射的图像与物体图像同时拍摄，可以获得不受光源照度和颜色影响的图像。参考鼻子的表面被设计成能够反射物体的模糊图像，并且利用主图像旁边的小图像部分来校正与主图像中的像素相对应的所有像素。这种映射受图像深度的影响较小，但将参考鼻子放置在离镜头位置较近的位置可以减小这种影响。(2)本研究允许使用立体相机方法获得平面上每个点的深度，并表明通过在曲面上绘制垂直颜色条纹来测量曲线表面的深度是可行的。(3)对于几乎平行于视频扫描线的颜色边界线的检测，采用沿这些线检测特征点的方法是困难的。开发了一种视频速率测距仪，用于测量任何角度的颜色边界线的深度，包括平行边界线。这个取景器使用了一对立体摄像机，然后将连接一对摄像机的每个立体轴设置成彼此垂直的角度，一个水平放置，另一个垂直放置在地板上。所有的信号处理都是由电子电路完成的，因此能够以视频速率测量到彩色标记的距离，而不需要加载安装在自动行驶车辆上的控制计算机。(4)通过结合双摄像机获得的深度数据，提高了深度测量的正确率和采集率等性能。本研究奠定了测量的基础和装置的配置，表明该方法在深度测量中是有效的。

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.