Selection of the best stereo pair in a multi-camera configuration

Amat, Josep; Frigola, Manel; Casals, Alı́cia

doi:10.1109/robot.2002.1014227

Cited by 11 publications

(4 citation statements)

References 12 publications

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“…Localization precision using stereo cameras can be drastically improved reaching submillimetric precision [21], [22]. The implementation of these methods requires very accurate segmentation of markers.…”

Section: Discussionmentioning

confidence: 99%

A 3-D Mixed-Reality System for Stereoscopic Visualization of Medical Dataset

Ferrari

Megali

Troia

et al. 2009

IEEE Trans. Biomed. Eng.

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We developed a simple, light, and cheap 3-D visualization device based on mixed reality that can be used by physicians to see preoperative radiological exams in a natural way. The system allows the user to see stereoscopic "augmented images," which are created by mixing 3-D virtual models of anatomies obtained by processing preoperative volumetric radiological images (computed tomography or MRI) with real patient live images, grabbed by means of cameras. The interface of the system consists of a head-mounted display equipped with two high-definition cameras. Cameras are mounted in correspondence of the user's eyes and allow one to grab live images of the patient with the same point of view of the user. The system does not use any external tracker to detect movements of the user or the patient. The movements of the user's head and the alignment of virtual patient with the real one are done using machine vision methods applied on pairs of live images. Experimental results, concerning frame rate and alignment precision between virtual and real patient, demonstrate that machine vision methods used for localization are appropriate for the specific application and that systems based on stereoscopic mixed reality are feasible and can be proficiently adopted in clinical practice.

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Section: Discussionmentioning

confidence: 99%

A 3-D Mixed-Reality System for Stereoscopic Visualization of Medical Dataset

Ferrari

Megali

Troia

et al. 2009

IEEE Trans. Biomed. Eng.

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“…In keeping with earlier studies. we assume the pin-hole camera model for a low distortion system [44]. Light from a world point at X, (X, Y, Z) in world coordinates, passes through the aperture or optic center, and is projected to the image at w, (u, v) in image coordinates.…”

Section: Pinhole Camera Modelmentioning

confidence: 99%

Volumetric Calculation of Quantization Error in 3-D Vision Systems

Bohacek,

Coates,

Selviah

2020

Preprint

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This paper investigates how the inherent quantization of camera sensors introduces uncertainty in the calculated position of an observed feature during 3-D mapping. It is typically assumed that pixels and scene features are points, however, a pixel is a two-dimensional area that maps onto multiple points in the scene. This uncertainty region is a bound for quantization error in the calculated point positions. Earlier studies calculated the volume of two intersecting pixel views, approximated as a cuboid, by projecting pyramids and cones from the pixels into the scene. In this paper, we reverse this approach by generating an array of scene points and calculating which scene points are detected by which pixel in each camera. This enables us to map the uncertainty regions for every pixel correspondence for a given camera system in one calculation, without approximating the complex shapes. The dependence of the volumes of the uncertainty regions on camera baseline length, focal length, pixel size, and distance to object, shows that earlier studies overestimated the quantization error by at least a factor of two. For static camera systems the method can also be used to determine volumetric scene geometry without the need to calculate disparity maps.

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“…Since the aircraft has six degrees of freedom, need to measure three axial angular velocity and acceleration, using ADI's triaxial inertial measurement sensor ADIS16355, which is a complete three-axis gyroscope and three-axis accelerometer inertial sensing system consisting of its core uses IMEMS sensor technology, built-in embedded processors for spectral calibration and adjustment, through the SPI digital interface output data, ADIS16355 has the following characteristics: (1) 14-bit resolution; (2) 350Hz bandwidth; (3) the sensitivity calibration and axis orthogonal standards. (2) Height Sensor: height sensor is used to measure the height of the aircraft from the ground, the system uses the URM37V32 ultrasonic distance sensor, which has two probes, one for transmitting and receiving ultrasonic waves, the minimum measuring distance and measurement time compared to the SRF02 are has been greatly improved.…”

Section: Sensor Modulementioning

confidence: 99%

Micro Aerial Vehicle OVIAV) research and application in the city distribution networks

Zhao

Sun

et al. 2014

2014 China International Conference on Electricity Distribution (CICED)

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With the increasing com plexity of city distribution network, power line Inspection and maintenance workload and increasing difficulty. Simply relying on manual inspection force has been unable to meet the demand of the work. Based on advanced science and technology to develop an intelligent patrol aircraft for inspections of power lines in the city. The MAV (Micro Aerial Vehicle) include the application of smart technology in wireless video transmission, air separation distance measured as the air hovering positioning. It can achieve online monitoring and video monitoring of the distribution lines, transformers, pole equipment, conductors, drain wire, insulators, clamps, and fittings run state. Through the practical application of the results showed that the reaction is fast, lightweight, flexible, low-cost advantages of the flying type, and for the first time applied to the city power lines, to fill the blank of the domestic power industry in the city distribution lines air patrol, has certain The practicality and promotion.

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Selection of the best stereo pair in a multi-camera configuration

Cited by 11 publications

References 12 publications

A 3-D Mixed-Reality System for Stereoscopic Visualization of Medical Dataset

A 3-D Mixed-Reality System for Stereoscopic Visualization of Medical Dataset

Volumetric Calculation of Quantization Error in 3-D Vision Systems

Micro Aerial Vehicle OVIAV) research and application in the city distribution networks

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