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3 November 2010 Development and modeling of a stereo vision focusing system for a field programmable gate array robot
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Stereo vision is a situation where an imaging system has two or more cameras in order to make it more robust by mimicking the human vision system. By using two inputs, knowledge of their own relative geometry can be exploited to derive depth information from the two views they receive. 3D co-ordinates of an object in an observed scene can be computed from the intersection of the two sets of rays. Presented here is the development of a stereo vision system to focus on an object at the centre of a baseline between two cameras at varying distances. This has been developed primarily for use on a Field Programmable Gate Array (FPGA) but an adaptation of this developed methodology is also presented for use with a PUMA 560 Robotic Manipulator with a single camera attachment. The two main vision systems considered here are a fixed baseline with an object moving at varying distances from this baseline, and a system with a fixed distance and a varying baseline. These two differing situations provide enough data so that the co-efficient variables that determine the system operation can be calibrated automatically with only the baseline value needing to be entered, the system performs all the required calculations for the user for use with a baseline of any distance. The limits of system with regards to the focusing accuracy obtained are also presented along with how the PUMA 560 controls its joints for the stereo vision and how it moves from one position to another to attend stereo vision compared to the two camera system for the FPGA. The benefits of such a system for range finding in mobile robotics are discussed and how this approach is more advantageous when compared against laser range finders or echolocation using ultrasonics.
© (2010) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Andrew J. Tickle, James Buckle, Josef E. Grindley, and Jeremy S. Smith "Development and modeling of a stereo vision focusing system for a field programmable gate array robot", Proc. SPIE 7833, Unmanned/Unattended Sensors and Sensor Networks VII, 78330J (3 November 2010);


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