Mr. Shinya Okazaki Profile

Shinya Okazaki

at Hokkaido Univ

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Proceedings Article | 17 November 2008 Paper

Object recognition based on relationship between camera vibration and measurement error on stereo measurement

Shin'ya Okazaki, Takayuki Tanaka, Shun'ichi Kaneko, Hidenori Takauji

Proceedings Volume 7266, 726619 (2008) https://doi.org/10.1117/12.807265

KEYWORDS: Cameras, Stereoscopic cameras, Statistical analysis, Camera shutters, Imaging systems, Object recognition, Opto mechatronics, Current controlled current source, Error analysis

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This study aims to establish an error model of the stereo measurement system considering camera vibration. At first, we verified the distribution of disparity error under the circumstance without the camera vibration and with the camera vibration. As the result, we found that we can approximate the distribution of disparity error by normal distribution under the circumstance without camera vibration and with camera vibration. And, the parameters of normal distribution are changed by the camera vibration. The parameters of the distribution of the measurement error are average μ and standard deviation σ. The parameters of the camera vibration are considered amplitude A and frequency F. In order to verify relationships during the parameters of the distribution of measurement error and the parameters of the camera vibration, we experimented using the vibration testing system. We imposed simple harmonic motion to the stereo camera. In this paper, we use stereo camera Bumblebee. As the result of experiment, the camera vibration didn't affect average μ. We found positively correlation between standard deviation σ and amplitude A. And, we found negatively correlation between standard deviation σ and frequency F. We estimate the parameters of measurement error by the parameter of the camera vibration using these relationships. So, we establish the error model of the stereo measurement system. Moreover, we define existing probability of object using the parameter of measurement error.

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