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Application of Stereo Vision in Tracking. James Smith NSF REU- Summer 2011. *This research is supported by NSF Grant No. CNS 1005212. Opinions, findings, conclusions, or recommendations expressed in this paper are those of the author(s) and do not necessarily reflect the views of NSF.

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application of stereo vision in tracking
Application of Stereo Vision in Tracking

James Smith

NSF REU- Summer 2011

*This research is supported by NSF Grant No.

CNS 1005212. Opinions, findings, conclusions,

or recommendations expressed in this paper

are those of the author(s) and do not necessarily

reflect the views of NSF

overview
Overview
  • Definition and Uses
  • Related Work
  • Implementation
  • Research and Current Problems
definition
Definition
  • What is stereo vision?
  • Why is it used?
related work
Related Work
  • Multiple View Geometry in Computer Vision Richard Hartley, Andrew Zisserman
  • Robot Localization and Mapping
  • Human Interaction
d f b v1 v2 1

How It Works

D = f * [ (b/(v1 + v2)) - 1]

National Instruments, http://zone.ni.com/devzone/cda/tut/p/id/8176

slide7

Left Camera Image

Disparity Image

research and problems
Research and Problems
  • Optimized Object Detection
  • Single/Multiple Object Tracking
slide9

Left Camera Image

Disparity Image

slide10

References

  • National Instruments – Developer Zone: Robotics Fundamentals, December 10, 2008

URL: http://zone.ni.com/cms/images/devzone/tut/tlmqnfhd36037.jpg

  • Se, S.; Lowe, D.; Little, J.; , "Vision-based mobile robot localization and mapping using scale-invariant features," Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on , vol.2, no., pp. 2051- 2058 vol.2, 2001

URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=932909&isnumber=20183

  • Richard Hartley; Andrew Zisserman; “Multiple View Geometry in Stereo Vision”, 2003