Development of Real-Time Stereo Vision with Multi-Arrayed Camera
Kazuhiro YOSHIDA, Shigeo Hirose · Transactions of the Society of Instrument and Control Engineers · 1991
The 3D vision is indispensable for realization of an intelligent robot. The stereo vision has been considered as a typical candidate for 3D visions, but it is not yet practically used. The bottleneck in realizing the stereo vision was a corresponding problem which is to correctly identify the same viewing point for each camera. The paper proposes a new stereo vision system which solves the corresponding problem with multiple arrayed cameras system. The proposed vision system, named "MAC vision", has the following characteristics, i) real-time measurement function of 3D vision, ii) simplicity and inexpensiveness of signal processing system, iii) parallel processing of many kinds of feature points. The paper also discusses the several problems to realize MAC vision and the experimental results of the constructed model of MAC vision with five cameras. From the experiments it is shown that the MAC vision can measure indoor and outdoor scenes with the speed of 16 frames/s, as to the frame including 1, 800 points of 3D coordinates measurement.