基于高速线性滑块的可变基线立体跟踪视觉系统

Y. Nakabo, T. Mukai, Yusuke Hattori, Y. Takeuchi, N. Ohnishi
{"title":"基于高速线性滑块的可变基线立体跟踪视觉系统","authors":"Y. Nakabo, T. Mukai, Yusuke Hattori, Y. Takeuchi, N. Ohnishi","doi":"10.1109/ROBOT.2005.1570337","DOIUrl":null,"url":null,"abstract":"In this research, we have developed a variable baseline stereo tracking vision system using a 1ms high-speed vision system and a high-speed linear slider. The vision system tracks a moving object, captures a stereo image pair and estimates its distance in only 1ms. It also calculates stereo matching and estimates its 3D shape every 2ms. The high speed linear slider moves stereo cameras horizontally and independently so the baseline length can be changed. We also propose a baseline control method which is adaptive to the distance to the object. When the object appears large in the image, the system reconstructs its 3D shape, and when the object appears small in the image, the system only estimates the 3D position of its center of gravity. The experimental results show that the proposed baseline control method improves the depth accuracy and the system can track and estimate the 3D shapes of fast moving objects.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"43 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"28","resultStr":"{\"title\":\"Variable Baseline Stereo Tracking Vision System Using High-Speed Linear Slider\",\"authors\":\"Y. Nakabo, T. Mukai, Yusuke Hattori, Y. Takeuchi, N. Ohnishi\",\"doi\":\"10.1109/ROBOT.2005.1570337\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this research, we have developed a variable baseline stereo tracking vision system using a 1ms high-speed vision system and a high-speed linear slider. The vision system tracks a moving object, captures a stereo image pair and estimates its distance in only 1ms. It also calculates stereo matching and estimates its 3D shape every 2ms. The high speed linear slider moves stereo cameras horizontally and independently so the baseline length can be changed. We also propose a baseline control method which is adaptive to the distance to the object. When the object appears large in the image, the system reconstructs its 3D shape, and when the object appears small in the image, the system only estimates the 3D position of its center of gravity. The experimental results show that the proposed baseline control method improves the depth accuracy and the system can track and estimate the 3D shapes of fast moving objects.\",\"PeriodicalId\":350878,\"journal\":{\"name\":\"Proceedings of the 2005 IEEE International Conference on Robotics and Automation\",\"volume\":\"43 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-04-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"28\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2005 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.2005.1570337\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2005.1570337","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 28

摘要

在本研究中,我们开发了一种使用1ms高速视觉系统和高速线性滑块的可变基线立体跟踪视觉系统。视觉系统跟踪一个移动的物体,捕捉一对立体图像,并在1毫秒内估计出它的距离。它还可以计算立体匹配,并每隔2毫秒估计它的3D形状。高速线性滑块水平和独立移动立体摄像机,因此可以改变基线长度。我们还提出了一种自适应目标距离的基线控制方法。当物体在图像中显得较大时,系统重建其三维形状,当物体在图像中显得较小时,系统仅估计其重心的三维位置。实验结果表明,所提出的基线控制方法提高了深度精度,系统能够对快速运动物体的三维形状进行跟踪和估计。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Variable Baseline Stereo Tracking Vision System Using High-Speed Linear Slider
In this research, we have developed a variable baseline stereo tracking vision system using a 1ms high-speed vision system and a high-speed linear slider. The vision system tracks a moving object, captures a stereo image pair and estimates its distance in only 1ms. It also calculates stereo matching and estimates its 3D shape every 2ms. The high speed linear slider moves stereo cameras horizontally and independently so the baseline length can be changed. We also propose a baseline control method which is adaptive to the distance to the object. When the object appears large in the image, the system reconstructs its 3D shape, and when the object appears small in the image, the system only estimates the 3D position of its center of gravity. The experimental results show that the proposed baseline control method improves the depth accuracy and the system can track and estimate the 3D shapes of fast moving objects.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信