The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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/spl times/disparity measurement per second; 3) high frame rate of 30 frame/sec; 4) a dense depth map of 256/spl times/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.

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

Number of pages: 6

Text Reference

Takeo Kanade, H. Kato, S. Kimura, A. Yoshida, and K. Oda, "Development of a Video-Rate Stereo Machine," Proc. of International Robotics and Systems Conference (IROS '95), Human Robot Interaction and Cooperative Robots, August, 1995, pp. 95 - 100.

BibTeX Reference

@inproceedings{Kanade_1995_2691,
   author = "Takeo Kanade and H. Kato and S. Kimura and A. Yoshida and K. Oda",
   title = "Development of a Video-Rate Stereo Machine",
   booktitle = "Proc. of International Robotics and Systems Conference (IROS '95), Human Robot Interaction and Cooperative Robots",
   pages = "95 - 100",
   month = "August",
   year = "1995",
   volume = "3",
}

The Robotics Institute

Menu