Improving accuracy and resolution of a motion stereo vision system

The vision system developed is based on the addition of 3D information of some preselected points of the 2D image of the scene in such a way that the system is able not only to recognize the part but also to have a rough description of its location in the 3D space which in general means improving the global performance of the vision system for Robotics applications. The method used to get the depth information is "motion stereo". The two techniques proposed to improve resolution of the stereoscopic system developed are based on, on the one hand, increasing the base line (distance between the initial and the final point of view) and on the other hand performing several depth measurements and getting the final value by averaging.