An Optimal Position and Orientation of Stereo Camera

Optimal combination of stereo camera calibration from arbitrary stereo images

Many stereo correspondence algorithms require relative camera geometry, as the epipolar constraint is fundamental to their matching processes. We intend to build a eye/head camera rig to mount on the mobile platform COMODE to enhance the abilities of the TINA system to recover 3D geometry from its environment. Thus we will need to be able to associate camera geometry with particular head config...

Selection of an optimal camera position using visibility and manipulability measures for an active camera system

In this paper, we present a new method to select the optimal camera position for an active camera system from which camera pose (position and orientation) is modified according to the change of environment. We consider visibility and manipulability constraints to select the optimal position to monitor the target object and to modify the camera configurations during the task. Visibility constrai...

Estimating 3D Hand Position and Orientation Using Stereo

We present an approach for estimating the 3D absolute position and orientation of the hand using a planar model of the back of the hand. We use stereo cameras to first build a sparse disparity map of the estimated area of the back of the hand. Then, the best fitting plane to the disparity points is computed using robust estimation. Finally, the 3D hand plane is calculated based on the disparity...

Optimal Camera Orientation from Points and Straight Lines

Estimating Hay Bale Position with Stereo Vision Technique using an Omnidirectional Camera

In path planning of autonomous agriculture vehicles, detecting and identifying obstacles, and taking appropriate collision avoidance measures are critical for safe operation. The goal of this research was to obtain the hay bale distance and position to be used in real-time obstacle avoidance detection for autonomous robot tractors using stereo vision system. The vision system was an omnidirecti...