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Reseach Article

Stereo vision for Robotics

Published on March 2012 by Jyothi Digge, Yashraj Digge
International Conference and Workshop on Emerging Trends in Technology
Foundation of Computer Science USA
ICWET2012 - Number 3
March 2012
Authors: Jyothi Digge, Yashraj Digge
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Jyothi Digge, Yashraj Digge . Stereo vision for Robotics. International Conference and Workshop on Emerging Trends in Technology. ICWET2012, 3 (March 2012), 33-39.

@article{
author = { Jyothi Digge, Yashraj Digge },
title = { Stereo vision for Robotics },
journal = { International Conference and Workshop on Emerging Trends in Technology },
issue_date = { March 2012 },
volume = { ICWET2012 },
number = { 3 },
month = { March },
year = { 2012 },
issn = 0975-8887,
pages = { 33-39 },
numpages = 7,
url = { /proceedings/icwet2012/number3/5331-1022/ },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Proceeding Article
%1 International Conference and Workshop on Emerging Trends in Technology
%A Jyothi Digge
%A Yashraj Digge
%T Stereo vision for Robotics
%J International Conference and Workshop on Emerging Trends in Technology
%@ 0975-8887
%V ICWET2012
%N 3
%P 33-39
%D 2012
%I International Journal of Computer Applications
Abstract

The human eye-brain system is responsible for the highest percentage of sensory data from the environment. A major part of this system which is unique to all predator species (including man) is the ability to perceive distance of various objects using their two eyes. This is one of the primary reasons that man and other predators have both their eyes on the same side of their head (i.e. front) unlike those in herbivore species like cows, goats, rabbits etc. The phenomenon of calculation of distance using only optical aids (namely the 2 eyes) is known as Binocular Depth Perception or stereo vision The importance of judging distance is apparent in comprehending and manipulating a 3-D environment, which is why it is so crucial in modern robotics. We intend to replicate the effect in software using 2 web cameras for image acquisition (instead of the eyes) using conventional/new methods in this paper. We have tried to find solution to two problems 1) Point correspondence problem 2) Stereo Triangulation Problem After solving these two problems, all that is necessary is to combine the outputs of these two to generate a 3-D depth map enumerated in any standard unit of length or distance. MATLAB was considered as the primary development tool.

References
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Index Terms

Computer Science
Information Sciences

Keywords

Robotics Binocular Depth Perception Optical aid and Sensory data