Extracting Depth By Binocular Stereo In A Robot Vision System

Suresh B. Marapane; Mohan M. Trivedi

doi:10.1117/12.948444

16 December 1988 Extracting Depth By Binocular Stereo In A Robot Vision System

Suresh B. Marapane, Mohan M. Trivedi

Proceedings Volume 0974, Applications of Digital Image Processing XI; (1988) https://doi.org/10.1117/12.948444
Event: 32nd Annual International Technical Symposium on Optical and Optoelectronic Applied Science and Engineering, 1988, San Diego, CA, United States

Abstract

New generation of robotic systems will operate in complex, unstructured environments utilizing so-phisticated sensory mechanisms. Vision and range will be two of the most important sensory modalities such a system will utilize to sense their operating environment. Measurement of depth is critical for the success of many robotic tasks such object recognition and location; obstacle avoidance and navigation; and object inspection. In this paper we consider the development of a binocular stereo technique for extracting depth information in a robot vision system for inspection and manipulation tasks. Ability to produce precise depth measurements over a wide range of distances and the passivity of the approach, make binocular stereo techniques attractive and appropriate for range finding in a robotic environment. This paper describes work in progress towards the development of a region-based binocular stereo tech-nique for a robot vision system designed for inspection and manipulation and presents preliminary experiments designed to evaluate performance of the approach. Results of these studies show promise for the region-based stereo matching approach.

Citation Download Citation

Suresh B. Marapane and Mohan M. Trivedi "Extracting Depth By Binocular Stereo In A Robot Vision System", Proc. SPIE 0974, Applications of Digital Image Processing XI, (16 December 1988); https://doi.org/10.1117/12.948444

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