Vision systems require fundamental algorithms of image processing and vision computing. Algorithms of edge detection, grouping and stereo disparity detection are typical examples. Marr and his collaborators proposed several effective algorithms of edge detection and stereo disparity detection, in particular, in a computational approach (Marr, 1982). Marr and Hildreth had previously proposed an ...

Dense image matching methods enable efficient 3D data acquisition. Digital cameras are available at high resolution, high geometric and radiometric quality and high image repetition rate. They can be used to acquire imagery for photogrammetric purposes in short time. Photogrammetric image processing methods deliver 3D information. For example, Structure from Motion reconstruction methods can be...

This work presents a fisheye lens based omnidirectional stereo sensor. The sensor is installed on the top of the vehicle such that it can observe the entire area around it. The vehicles we use in the experiments are automated forklifts. We propose a multi-channel rectification to divide the original fisheye images into three pairs of rectified perspective images. The complexity of the fisheye s...

In this paper, we propose a trilateral-filter-based depth post processing to handle the occlusion points in order to enhance the quality of depth information and overcome the constraints in stereo vision. According to the experimental result, the depth quality is greatly enhanced especially in the occlusion regions and object boundaries. Proposed algorithm can provide high quality depth informa...

Several industry, home, or automotive applications need 3D or at least range data of the observed environment to operate. Such applications are, e.g., driver assistance systems, home care systems, or 3D sensing and measurement for industrial production. State-of-the-art range sensors are laser range finders or laser scanners (LIDAR, light detection and ranging), time-of-flight (TOF) cameras, an...

In this paper, we discuss about dual manipulators mounted on Micro6 which is newly developed exploration rover with novel HEXSUS suspension. Especially, its system design and image processing with telesampling strategies are discussed, and those availabilities are indicated. In the system design of manipulators, we have proposed the use of a ultrasonic motor (USM) as an actuator on each joint. ...

the main idea of this paper is to present application of stereo vision approach to determine position and orientation of end-effector of mechanical manipulators. Stereo vision is a technique based on inferring depth of an object from two cameras. A stereo vision test set up that is made of two parallel CMOS cameras is provided and USB port is used to transmit image data to the computer. Experim...

When stereo images are captured under less than ideal conditions, there may be inconsistencies between the two images in brightness, contrast, blurring, etc. When stereo matching is performed between the images, these variations can greatly reduce the quality of the resulting depth map. In this paper we propose a method for correcting sharpness variations in stereo image pairs which is performe...

The registration and geometric recti cation of airborne scanner imagery is an essential prerequisite for the processing and analysis of this type of images. The Digital Photogrammetric Assembly (DPA) is an airborne camera consisting of three pan-chromatic line arrays for stereo imaging and four line arrays for multi-spectral imaging. For georeferencing the sensor system is completed by a module...

Several industry, home, or automotive applications need 3D or at least range data of the observed environment to operate. Such applications are, e.g., driver assistance systems, home care systems, or 3D sensing and measurement for industrial production. State-of-the-art range sensors are laser range finders or laser scanners (LIDAR, light detection and ranging), time-of-flight (TOF) cameras, an...