Camera Arrangement using Geometric Optimization to Minimize Localization Error in Stereo-vision Systems

Stereo machine vision can be used as a Space Sampling technique and the cameras parameters and configuration can effectively change the number of Samples in each Volume of space called Space Sampling Density (SSD). Using the concept of Voxels, this paper presents a method to optimize the geometric configuration of the cameras to maximize the SSD which means minimizing the Voxel volume and reducing the uncertainty in localizing an object in 3D space. Each pixel’s field of view (FOV) is considered as a skew pyramid. The uncertainty region will be created from the intersection of two pyramids associated with any of the cameras. Then, the mathematical equation of the uncertainty region is developed based on the correspondence field as a criterion for the localization error, including depth error as well as X and Y axes error. This field is completely dependent on the internal and external parameters of the cameras. Given the mathematical equation of localization error, the camera’s configuration optimization is addressed in a stereo vision system. Finally, the validity of the proposed method is examined by simulation and empirical results. These results show that the localization error will be significantly decreased in the optimized camera configuration.