Development of a video-rate stereo machine

Author

Kanade, Takeo ; Kano, Hiroshi ; Kimura, Shigeru ; Yoshida, Atsushi ; Oda, Kazuo

Author_Institution

Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

Volume

3

fYear

1995

fDate

5-9 Aug 1995

Firstpage

95

Abstract

A video-rate stereo machine has been developed at CMU with the capability of generating a dense range map, aligned with an intensity image, at the video rate. The target performance of the CMU video-rate stereo machine is: 1) multi-image input of 6 cameras; 2) high throughput of 30 million point×disparity measurement per second; 3) high frame rate of 30 frame/sec; 4) a dense depth map of 256×240 pixels; 5) disparity search range of up to 60 pixels; 6) high precision of up to 7 bits (with interpolation); and 7) uncertainty estimation available for each pixel

Keywords

computer vision; distance measurement; sensor fusion; stereo image processing; video cameras; 256 to 240 pixel; 60 pixel; dense range map generation; disparity measurement; intensity image; sensor fusion; video-rate stereo machine; Cameras; Equations; High-resolution imaging; Interpolation; Layout; Length measurement; Optical imaging; Pixel; Robot kinematics; Throughput;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on

Conference_Location

Pittsburgh, PA

Print_ISBN

0-8186-7108-4

Type

conf

DOI

10.1109/IROS.1995.525868

Filename

525868