ZED 2i 立体摄像机在室内环境中的深度精度分析

IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
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引用次数: 0

摘要

准确的深度信息对于自主系统的导航和与周围环境的安全互动至关重要。ZED 2i 等被动式立体视觉相机通过立体图像分析和三角测量获得深度信息。这项研究测量并评估了 ZED 2i 摄像头在真实室内办公环境中的真正能力。此外,该研究还提供了一个标准测试装置,以便使用不同的深度相机重现类似的基准。为了实现既定目标,我们设计并在办公室环境中进行了一项实验,利用四种不同的图像分辨率来确定不同距离上的摄像头深度误差和深度估计的均方根误差 (RMSE)。结果表明,深度误差具有严重的尾部,这意味着异常值会严重影响精度。因此,深度误差不应被视为正态分布误差。此外,四种分辨率中只有两种能够获取 18 米以内的深度数据。这些见解为了解 ZED 2i 摄像机的真正性能、确定其是否适合不同的应用和环境提供了指导,并为其他竞争传感器设备的未来测试提供了基准。此外,这项研究还提供了一种简单、廉价、不占实验室空间的有效设置,无需大量设备或复杂配置,便于在不同工作环境中对深度相机进行基准测试。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Depth accuracy analysis of the ZED 2i Stereo Camera in an indoor Environment

Depth accuracy analysis of the ZED 2i Stereo Camera in an indoor Environment

Accurate depth information is crucial for autonomous systems to navigate and interact safely with their surroundings. Passive stereo-vision cameras, such as the ZED 2i, obtain depth information through stereo-image analysis and triangulation. The study measures and assesses the true capabilities of the ZED 2i camera in a real indoor office environment. Furthermore, the study provides a standard test setup to reproduce similar benchmarks with different depth cameras. To achieve the set goals, an experiment was devised and carried out in an office environment to determine the camera depth error and Root Mean Square Error (RMSE) of the depth estimates at different distances using four different image resolutions. The results reveal that the depth error has heavy tails, implying that outliers substantially impact accuracy. Hence, depth errors should not be modeled as normally distributed errors. Moreover, only two out of four resolutions provided the capability of acquiring depth data up to 18 m. These insights provide guidelines for understanding the ZED 2i camera's true capabilities, determining its suitability for different applications and environments, and giving baselines for future tests of other competing sensor units. Furthermore, the study offers a simple, inexpensive, and laboratory space-free, yet effective setup that does not need extensive equipment or complex configurations to facilitate the benchmarking of depth cameras in different working environments.

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来源期刊
Robotics and Autonomous Systems
Robotics and Autonomous Systems 工程技术-机器人学
CiteScore
9.00
自引率
7.00%
发文量
164
审稿时长
4.5 months
期刊介绍: Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.
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