• Title/Summary/Keyword: stereo vision

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Dimension Measurement for Large-scale Moving Objects Using Stereo Camera with 2-DOF Mechanism (스테레오 카메라와 2축 회전기구를 이용한 대형 이동물체의 치수측정)

  • Cuong, Nguyen Huu;Lee, Byung Ryong
    • Journal of the Korean Society for Precision Engineering
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    • v.32 no.6
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    • pp.543-551
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    • 2015
  • In this study, a novel method for dimension measurement of large-scale moving objects using stereo camera with 2-degree of freedom (2-DOF) mechanism is presented. The proposed method utilizes both the advantages of stereo vision technique and the enlarged visibility range of camera due to 2-DOF rotary mechanism in measuring large-scale moving objects. The measurement system employs a stereo camera combined with a 2-DOF rotary mechanism that allows capturing separate corners of the measured object. The measuring algorithm consists of two main stages. First, three-dimensional (3-D) positions of the corners of the measured object are determined based on stereo vision algorithms. Then, using the rotary angles of the 2-DOF mechanism the dimensions of the measured object are calculated via coordinate transformation. The proposed system can measure the dimensions of moving objects with relatively slow and steady speed. We showed that the proposed system guarantees high measuring accuracy with some experiments.

A Study on the Visual Servoing of Autonomous Mobile Inverted Pendulum (자율주행 모바일 역진자의 비주얼서보잉에 대한 연구)

  • Lee, Junmin;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.3
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    • pp.240-247
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    • 2013
  • This paper proposes an optimal three-dimensional coordinate implementation of the vision sensor using two CCD cameras. The PBVS (Position based visual servoing) is implemented using the positional information obtained from images. Stereo vision by PBVS method that has enhanced every frame using calibration parameters is effective in the distance calculation. The IBVS (Image based visual servoing) is also implemented using the difference between reference and obtained images. Stereo vision by IBVS method calculates the distance using rotation angle of motors that correspond eyes and neck without enhanced images. The PBVS method is compared with the IBVS method in terms of advantages, disadvantages, computing time, and performances. Finally, the IBVS method is applied for the dual arm manipulator on the mobile inverted pendulum. The autonomous mobile inverted pendulum is successfully demonstrated using the center of the manipulator's mass.

High Speed Self-Adaptive Algorithms for Implementation in a 3-D Vision Sensor (3-D 비젼센서를 위한 고속 자동선택 알고리즘)

  • Miche, Pierre;Bensrhair, Abdelaziz;Lee, Sang-Goog
    • Journal of Sensor Science and Technology
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    • v.6 no.2
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    • pp.123-130
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    • 1997
  • In this paper, we present an original stereo vision system which comprises two process: 1. An image segmentation algorithm based on new concept called declivity and using automatic thresholds. 2. A new stereo matching algorithm based on an optimal path search. This path is obtained by dynamic programming method which uses the threshold values calculated during the segmentation process. At present, a complete depth map of indoor scene only needs about 3 s on a Sun workstation IPX, and this time will be reduced to a few tenth of second on a specialised architecture based on several DSPs which is currently under consideration.

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Calibration of 3D Coordinates in Orthogonal Stereo Vision (직교식 스테레오 비젼에서의 3차원 좌표 보정)

  • Yoon, Hee-Joo;Seo, Young-Wuk;Bae, Jung-Soo;Cha, Eui-Young
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • v.9 no.1
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    • pp.504-507
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    • 2005
  • In this paper, we propose a calibration technique of 3D coordinates using orthogonal stereo vision. First, we acquire front- image and upper- image from stereo cameras with real time and extract each coordinates of a moving object using differential operation and ART2 clustering algorithm. Then, we can generate 3D coordinates of that moving object through combining these two coordinates. Finally, we calibrate 3D coordinates using orthogonal stereo vision since 3D coordinates are not accurate due to perspective. Experimental results show that accurate 3D coordinates of a moving object can be generated by the proposed calibration technique.

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STEREO VISION-BASED FORWARD OBSTACLE DETECTION

  • Jung, H.G.;Lee, Y.H.;Kim, B.J.;Yoon, P.J.;Kim, J.H.
    • International Journal of Automotive Technology
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    • v.8 no.4
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    • pp.493-504
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    • 2007
  • This paper proposes a stereo vision-based forward obstacle detection and distance measurement method. In general, stereo vision-based obstacle detection methods in automotive applications can be classified into two categories: IPM (Inverse Perspective Mapping)-based and disparity histogram-based. The existing disparity histogram-based method was developed for stop-and-go applications. The proposed method extends the scope of the disparity histogram-based method to highway applications by 1) replacing the fixed rectangular ROI (Region Of Interest) with the traveling lane-based ROI, and 2) replacing the peak detection with a constant threshold with peak detection using the threshold-line and peakness evaluation. In order to increase the true positive rate while decreasing the false positive rate, multiple candidate peaks were generated and then verified by the edge feature correlation method. By testing the proposed method with images captured on the highway, it was shown that the proposed method was able to overcome problems in previous implementations while being applied successfully to highway collision warning/avoidance conditions, In addition, comparisons with laser radar showed that vision sensors with a wider FOV (Field Of View) provided faster responses to cutting-in vehicles. Finally, we integrated the proposed method into a longitudinal collision avoidance system. Experimental results showed that activated braking by risk assessment using the state of the ego-vehicle and measuring the distance to upcoming obstacles could successfully prevent collisions.

High efficient vision system for volumetric display (입체영상 디스플레이를 위한 고효율 비젼 시스템)

  • Kim, Sang Hyun
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.14 no.10
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    • pp.5130-5133
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    • 2013
  • Volumetric display has many applications recently in education, 3D movie, medical images but these applications have several problems that need to be overcome. Volumetric display may process a amount of visual data and design the high efficient vision system for realtime display. The stereo data for volumetric display estimated the disparity vectors from the stereoscopic sequences has been transmitted the disparity vectors, motion vectors and residual images with the reference images, and the stereoscopic sequences have been reconstructed at the receiver for 3D display. Central issue for efficient 3D display lies in selecting an appropriate stereo matching with robust vision system. In this paper, high efficient vision system is proposed for efficient stereo image matching and the experimental results represent high efficiency for proposed 3D display system.

Development of the Noise Elimination Algorithm of Stereo-Vision Images for 3D Terrain Modeling (지반형상 3차원 모델링을 위한 스테레오 비전 영상의 노이즈 제거 알고리즘 개발)

  • Yoo, Hyun-Seok;Kim, Young-Suk;Han, Seung-Woo
    • Korean Journal of Construction Engineering and Management
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    • v.10 no.2
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    • pp.145-154
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    • 2009
  • For developing an Automation equipment in construction, it is a key issue to develop 3D modeling technology which can be used for automatically recognizing environmental objects. Recently, for the development of "Intelligent Excavating System(IES), a research developing the real-time 3D terrain modeling technology has been implemented from 2006 in Korea and a stereo vision system is selected as the optimum technology. However, as a result of performance tests implemented in various earth moving environment, the 3D images obtained by stereo vision included considerable noise. Therefore, in this study, for getting rid of the noise which is necessarily generated in stereo image matching, the noise elimination algorithm of stereo-vision images for 3D terrain modeling was developed. The consequence of this study is expected to be applicable in developing an automation equipments which are used in field environment.

Stereo-Vision-Based Human-Computer Interaction with Tactile Stimulation

  • Yong, Ho-Joong;Back, Jong-Won;Jang, Tae-Jeong
    • ETRI Journal
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    • v.29 no.3
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    • pp.305-310
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    • 2007
  • If a virtual object in a virtual environment represented by a stereo vision system could be touched by a user with some tactile feeling on his/her fingertip, the sense of reality would be heightened. To create a visual impression as if the user were directly pointing to a desired point on a virtual object with his/her own finger, we need to align virtual space coordinates and physical space coordinates. Also, if there is no tactile feeling when the user touches a virtual object, the virtual object would seem to be a ghost. Therefore, a haptic interface device is required to give some tactile sensation to the user. We have constructed such a human-computer interaction system in the form of a simple virtual reality game using a stereo vision system, a vibro-tactile device module, and two position/orientation sensors.

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Development of a Robot arm capable of recognizing 3-D object using stereo vision

  • Kim, Sungjin;Park, Seungjun;Park, Hongphyo;Sangchul Won
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.128.6-128
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    • 2001
  • In this paper, we present a methodology of sensing and control for a robot system designed to be capable of grasping an object and moving it to target point Stereo vision system is employed to determine to depth map which represents the distance from the camera. In stereo vision system we have used a center-referenced projection to represent the discrete match space for stereo correspondence. This center-referenced disparity space contains new occlusion points in addition to the match points which we exploit to create a concise representation of correspondence an occlusion. And from the depth map we find the target object´s pose and position in 3-D space. To find the target object´s pose and position, we use the method of the model-based recognition.

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Obstacle Avoidance using Power Potential Field for Stereo Vision based Mobile Robot (PPF를 이용한 4족 로봇의 장애물 회피)

  • 조경수;김동진;기창두
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2002.10a
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    • pp.554-557
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    • 2002
  • This paper describes power potential field method for the collision-free path planning of stereo-vision based mobile robot. Area based stereo matching is performed for obstacle detection in uncertain environment. The repulsive potential is constructed by distributing source points discretely and evenly on the boundaries of obstacles and superposing the power potential which is defined so that the source potential will have more influence on the robot than the sink potential when the robot is near to source point. The mobile robot approaches the goal point by moving the robot directly in negative gradient direction of the main potential. We have investigated the possibility of power potential method for the collision-free path planning of mobile robot through various experiments.

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