Abstract
We present a practical method for computing range from stereo disparities with verging cameras, a theoretical model of the expected range errors, and an analysis of their experimentally determined components. To compute stereo disparities we first extract linear features and then match them using a hypothesize-and-verify method. To compute range we derive the relationship between object distance, vergence angle and disparity, and determine its parameters by a calibration procedure. The expected range errors are due to (i) residuals in the calibrated coefficients, (ii) feature localization errors, and (iii) mistaken matches. Overall, the range of objects lying between 1 and 3 m from the cameras and with a restricted field of view can be computed to 2.5 percent/m, excluding mistaken matches. Including mistaken matches results in performance an order of magnitude worse, leading us to suggest some practical methods to identify them.
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© 1987 Springer-Verlag Berlin Heidelberg
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Krotkov, E., Kories, R. (1987). Ranging Errors with Verging Stereo Cameras. In: Paulus, E. (eds) Mustererkennung 1987. Informatik-Fachberichte, vol 149. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-22205-8_56
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DOI: https://doi.org/10.1007/978-3-662-22205-8_56
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-18375-4
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