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Carnegie Mellon Robotics Institute

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Abstract

We describe our implementation of a parallel depth recovery scheme for a four-camera multibaseline stereo in a convergent configuration. Our system is capable of image capture at video rate. This is critical in applications that require three-dimensional tracking. We obtain dense stereo depth data by projecting a light pattern of frequency modulated sinusoidally varying intensity onto the scene, thus increasing the local discriminability at each pixel and facilitating matches. In addition, we make most of the camera view areas by converging them at a volume of interest. Results show that we are able to extract stereo depth data that are, on the average, less than 1 mm in error at distances between 1.5 to 3.5 m away from the cameras.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

Sing Bing Kang, J.A. Webb, Charles Zitnick, and Takeo Kanade, "A Multibaseline Stereo System with Active Illumination and Real-time Image Acquisition," Proceedings of the Fifth International Conference on Computer Vision (ICCV '95), June, 1995, pp. 88-93.

BibTeX Reference

@inproceedings{Kang_1995_1751,
   author = "Sing Bing Kang, J.A. Webb, Charles Zitnick, and Takeo Kanade",
   title = "A Multibaseline Stereo System with Active Illumination and Real-time Image Acquisition",
   booktitle = "Proceedings of the Fifth International Conference on Computer Vision (ICCV '95)",
   pages = "88-93",
   month = "June",
   year = "1995",
}

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