Precise 3D measurements with a high resolution stereo head

Author

Gasteratos, A. ; Martinotti, R. ; Metta, G. ; Sandini, G.

Author_Institution

Lab. for Integrated Adv. Robotics, Genoa Univ., Italy

fYear

2000

fDate

2000

Firstpage

171

Lastpage

176

Abstract

We investigate a method to obtain accurate 3D measurements and we compare it with a standard photogrammetry method. The method utilizes a closed-loop to bring the point under measure in the middle of the two images of a stereo pair. It uses poor calibrated cameras and the accuracy of the measurements relies on the high resolution of the stereo head encoders and on its calibration as well. Experimental results have shown that the proposed method is more accurate than the standard photogrammetry method, as well as it is more robust to small variations of the initial position of the cameras

Keywords

calibration; cameras; image resolution; legged locomotion; measurement errors; photogrammetry; robot vision; stereo image processing; CAD model; calibrated cameras; camera position variations; closed-loop; high resolution stereo head; legged robot; measurement accuracy; pose estimation; precise 3D measurements; standard photogrammetry method; stereo head encoders; stereo images; Calibration; Cameras; Communication standards; Equations; Head; Laboratories; Machine vision; Measurement standards; Robot kinematics; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Image and Signal Processing and Analysis, 2000. IWISPA 2000. Proceedings of the First International Workshop on

Conference_Location

Pula

Print_ISBN

953-96769-2-4

Type

conf

DOI

10.1109/ISPA.2000.914909

Filename

914909