Stereo vision system for remote monitoring and 3-D reconstruction

A three-dimensional vision system for inspection activities of installations and equipment by remotely operated vehicles is presented. A real-time vision system is used for the acquisition of stereo pairs of images which, after preprocessing, are submitted to a reconstruction procedure in order to obtain 3-D coordinates and to perform dimensioning of objects. A minimization procedure applied to a robust least-squares implementation of the camera system orientation is described. Experimental results are shown to verify the effectiveness of the proposed techniques.