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3 November 2010Development and modeling of a stereo vision focusing system for a field programmable gate array robot
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.
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Andrew J. Tickle, James Buckle, Josef E. Grindley, 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);