The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We have developed a video-rate stereo machine that has the capability of generating a dense depth map at the video rate. The performance bench marks of the CMU video-rate stereo machine are: 1) multi-image input of up to 6 cameras; 2) throughput of 30 million point/spl times/disparity measurement per second; 3) frame rate of 30 frame/sec; 4) a dense depth map of up to 256/spl times/240 pixels; 5) disparity search range of up to 60 pixels; 6) high precision of depth output up to 8 bits (with interpolation). The capability of passively producing such a dense depth map (3D representation) of a scene at the video rate can open up a new class of applications of 3D vision: merging real and virtual worlds in real time.

Notes

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

Associated Lab(s) / Group(s): Vision for Virtual Environments

Associated Project(s): Video-rate Stereo Machine

Text Reference

Takeo Kanade, A. Yoshida, K. Oda, H. Kano, and M. Tanaka, "A Stereo Machine for Video-rate Dense Depth Mapping and Its New Applications," Proceedings of the 15th Computer Vision and Pattern Recognition Conference (ICVPR '96), June, 1996, pp. 196-202.

BibTeX Reference

@inproceedings{Kanade_1996_2458,
   author = "Takeo Kanade and A. Yoshida and K. Oda and H. Kano and M. Tanaka",
   title = "A Stereo Machine for Video-rate Dense Depth Mapping and Its New Applications",
   booktitle = "Proceedings of the 15th Computer Vision and Pattern Recognition Conference (ICVPR '96)",
   pages = "196-202",
   month = "June",
   year = "1996",
}

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