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This article describes the design and process of a 3D Mini Camera Lens to be utilised in multi-purpose 3D stereo reconstruction on computers, mobile devices and robots. It can also be useful for various tasks including demonstration, knowledge-sharing, online programming, database sharing, results comparison in the stereo vision research community, and recreation used by non-specialists. In contrast...
This paper presents a low power architecture of a stereo vision algorithm, that runs in real-time. This algorithm is a modification to the conventional Sum of Absolute Difference (SAD) algorithm. Conventional SAD uses absolute difference between block of pixels in reference image and the other image to calculate the disparity cost function. The number of computations can be significantly reduced by...
Accurate ground area detection is one of the most important tasks in various stereo vision based applications, such as autonomous driving or assistive technologies for visually impaired. Correct assertion of the ground geometry improves obstacle detection algorithms by eliminating false positive locations in image. In this paper we provide an application oriented evaluation on the correlation of the...
The research on developing assistive devices for visually impaired people greatly relies on image processing techniques. Extensive effort is made on detecting the obstacles in front of the user. Beside the normal obstacles that the user can bump into, another category of obstacles, negative obstacles must also be detected. Negative obstacles are usually represented by holes in the ground or regions...
In this paper we describe the 3D acquisition component integrated in the Sound of Vision (SoV) system. SoV is a computer vision based sensory substitution device (SSD) for the visually impaired. Its main objective is to provide the users with a 3D representation of the environment around them, conveyed by means of the hearing and tactile senses. One of the biggest challenges for the SoV system is...
Analyzed the principle of single camera stereo vision sensor based on the two plane mirrors. Established the measurement model of three-dimensional points, calibrated the internal and external parameters, and the corresponding experiment has been done. Compared the results got by the method in this paper with the one got by the traditional two cameras stereo vision sensor, the experimental results...
With the growing number of automobiles, it brings both the problem of difficult parking and the increasing traffic accidents in parking process. As one of the important issue in the parking assist system, the detection method of nearest point from the obstacle to automobile body is studied. On the basis of analyzing and comparing several methods of automobile distance detection, a nearest point detection...
Breast cancer, the most commonly diagnosed cancer in women worldwide, is mostly detected through a biopsy where tissue is extracted and chemically examined or pathologist assessed. Medical imaging plays a valuable role in targeting malignant tissue accurately and guiding the radiologist during needle insertion in a biopsy. This paper proposes a computer software that can process and combine 3D reconstructed...
This paper presents a new stereo configuration based on sensor rotation. Different from the traditional stereo vision system which consists of multiple cameras, our rotational stereo device is built with a single image sensor. By constraining the sensor's planar motion perpendicular to the optical axis with an offset to the axis of rotation, the visual parallax can be generated with multiple viewpoints...
In this paper we propose a fast method for detecting the ground plane in 3D scenes for an arbitrary roll angle rotation of a stereo vision camera. The method is based on the analysis of the disparity map and its “V-disparity” representation. First, the roll angle of the camera is identified from the disparity map. Then, the image is rotated to a zero-roll angle position and the ground plane is detected...
The object tracking is used as instruction controller in wheelchair that track the movement direction of object along time. The movement direction include left, right and onward. The left and right direction can be calculated by using the changing of x-coordinate of object in every sub sequence frame. The challenge is to determine the onward moving. The onward moving cannot calculate simply by coordinate...
Low resolution commercial 3D sensors contribute to computer vision tasks even better when the analysis is carried out in a combination with higher resolution image data. This requires registration of 2D images to unorganized 3D point clouds. In this paper we present a framework for 2D-3D data fusion to obtain directly the camera pose of a 2D color image in relation to a 3D point cloud. It includes...
This paper presents a novel 3D panoramic system which is composed with two panoramic cameras and a laser line projector. By rotating the laser line, a serial of panoramic images with laser strip projections can be obtained. By calibrating the panoramic cameras, epipolar constrain can be used to precisely solve the corresponding points on the laser strips in the panoramic images. As a result, a dense...
Surgical instrument sorting is a repetitive work with a high risk of infection, which requires medical staffs to classify them after cleaning. Currently, the surgical instrument sorting is usually accomplished by medical staffs' manual operation. It is a time costing work, which may cause operators' fatigue even classification errors. Meanwhile, surgical instruments are relatively sharp and often...
We investigate the pose estimation of a semi-unknown object for stereo-vision-based navigation of a mobile manipulator. A new computationally fast vision algorithm is developed to extract the object's pose at a high rate from the captured scenes. Moreover, we present a method to deal with range dependent noise characteristics of the stereo vision to fulfill requirements for mobile manipulation tasks...
In recent years, a great number of datasets were published to train and evaluate computer vision (CV) algorithms. These valuable contributions helped to push CV solutions to a level where they can be used for safety-relevant applications, such as autonomous driving. However, major questions concerning quality and usefulness of test data for CV evaluation are still unanswered. Researchers and engineers...
It is normally challenging to model flowering plants, which is affected by illumination, temperature, moisture, soil, etc. To further improve the accuracy and efficiency of such 3D modeling, a 3D reconstruction method for orchid flower, based on virtual binocular stereo vision, was proposed in this paper, where two cameras with baseline and fixed focal length were applied to constitute a binocular...
Autonomous robots also known as Unmanned Ground Vehicles (UGV) is of broad and current interest, in both research and industry. Many studies have been done in stereo vision based UGV vision in positive obstacle detection and avoidance, but negative obstacle detection and avoidance remains less explored. In this paper, we propose a new method to detect negative obstacles incorporating the knowledge...
In recent times, unmanned aerial vehicles (UAVs) are popular for several applications like rescue, surveillance, mapping, and so on. However, slow flight motion of Quadrotor UAVs is still a challenging issue to overcome. Although there exist several algorithms for the motion estimation and path planning of UAVs, most of them cannot be applied for fast flight in cluttered urban and forest environments...
Dense views are needed urgently for autostereoscopic three-dimensional (3D) displays. A dense view synthetization system with three input views which are captured by a three-camera rig is presented. In the system, an image preprocessing step is presented before rendering dense views, in which both color and depth images are optimized by the proposed adaptive joint view optimization algorithm. Then...
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