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Video-rate Stereo Machine
This project is no longer active.

Mailing address:
Hiroshi Kano (hkano@cs.cmu.edu)

Associated center: VASC
Associated lab/group: Vision for Virtual Environments

For more information, see this project's homepage.

Stereo ranging, which uses correspondence between sets of two or more images for depth measurement, has many advantages. It is passive and it does not emit any radio or light energy. With appropriate imaging geometry, optics, and high-resolution cameras, stereo can produce a dense, precise range image of even distant scenes. Our video-rate stereo machine is based on a new stereo technique which has been developed and tested at CMU over years. It uses multiple images obtained by multiple cameras to produce different baselines in lengths and in directions. The multi-baseline stereo method takes advantage of the redundancy contained in multi-stereo pairs, resulting in a straightforward algorithm which is appropriate for hardware implementation.

It is currently operational at the speed of 30 frames per second with 200W200 image size and 23 pixel disparity range.

Name - Title <Email Address>
• [Home] Takeo Kanade - U.A. and Helen Whitaker University Prof., RI/CS <tk@cs.cmu.edu>

• Z-Keying - A new image keying method which merges synthetic and real image in real time.

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• An Implementation of Camera Geometry Correction Capability in a Video-Rate Stereo Machine
  H. Kano, S. Kimura, M. Tanaka, and T. Kanade
  Journal of the Robotics Society of Japan, Vol. 16, No. 4, 1998, pp. 527 - 535. [Abstract]
  Download: pdf [537 KB] copyrighted

• Development of a Video-Rate Stereo Machine
  T. Kanade, H. Kano, S. Kimura, E. Kawamura, A. Yoshida, and K. Oda
  Journal of the Robotics Society of Japan, Vol. 15, No. 2, March, 1997, pp. 99-105.

• A Video-Rate Stereo Machine and Its New Applications
  T. Kanade, M. Tanaka, K. Oda, A. Yoshida, and H. Kano
  27th International Symposium on Industrial Robots, October, 1996, pp. 671-676.
  Download: pdf [326 KB], ps.gz [385 KB], ps.z [474 KB] copyrighted

• A Stereo Machine for Video-rate Dense Depth Mapping and Its New Applications
  T. Kanade, A. Yoshida, K. Oda, H. Kano, and M. Tanaka
  Proceedings of the 15th Computer Vision and Pattern Recognition Conference (ICVPR '96), June, 1996, pp. 196-202. [Abstract]
  Download: pdf [449 KB], ps.gz [746 KB] copyrighted

• A Stereo Machine for Video-Rate Dense Depth Mapping and Its New Applications
  T. Kanade
  Proceedings of the 1996 DARPA Image Understanding Workshop, February, 1996.
  Download: pdf [479 KB], ps.gz [774 KB] copyrighted

• A Video-Rate Stereo Machine and Its Application to Virtual Reality
  K. Oda, M. Tanaka, A. Yoshida, H. Kano, and T. Kanade
  Proceedings of the 1996 International Society for Photogrammetry and Remote Sensing Conference (ISPRS '96), 1996.
  Download: pdf [326 KB], ps.gz [385 KB], ps.z [474 KB] copyrighted

• Development of a Video-Rate Stereo Machine
  T. Kanade, H. Kato, S. Kimura, A. Yoshida, and K. Oda
  Proc. of International Robotics and Systems Conference (IROS '95), Human Robot Interaction and Cooperative Robots, Vol. 3, August, 1995, pp. 95 - 100. [Abstract]
  Download: pdf [121 KB], ps.gz [260 KB] copyrighted

• CMU Video-Rate Stereo Machine
  T. Kanade, H. Kano, S. Kimura, E. Kawamura, A. Yoshida, and K. Oda
  Mobile Mapping Symposium, May, 1995.
  Download: pdf [98 KB], ps.gz [196 KB] copyrighted

• Development of a Video-Rate Stereo Machine
  T. Kanade
  Proceedings of the 1994 ARPA Image Understanding Workshop (IUW'94), November, 1994, pp. 549 - 558.
  Download: pdf [842 KB], ps.gz [950 KB] copyrighted