Object recognition based on relationship between camera vibration and measurement error on stereo measurement

Shin'ya Okazaki; Takayuki Tanaka; Shun'ichi Kaneko; Hidenori Takauji

doi:10.1117/12.807265

17 November 2008 Object recognition based on relationship between camera vibration and measurement error on stereo measurement

Shin'ya Okazaki, Takayuki Tanaka, Shun'ichi Kaneko, Hidenori Takauji

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Proceedings Volume 7266, Optomechatronic Technologies 2008; 726619 (2008) https://doi.org/10.1117/12.807265
Event: International Symposium on Optomechatronic Technologies, 2008, San Diego, California, United States

Abstract

This study aims to establish an error model of the stereo measurement system considering camera vibration. At first, we verified the distribution of disparity error under the circumstance without the camera vibration and with the camera vibration. As the result, we found that we can approximate the distribution of disparity error by normal distribution under the circumstance without camera vibration and with camera vibration. And, the parameters of normal distribution are changed by the camera vibration. The parameters of the distribution of the measurement error are average μ and standard deviation σ. The parameters of the camera vibration are considered amplitude A and frequency F. In order to verify relationships during the parameters of the distribution of measurement error and the parameters of the camera vibration, we experimented using the vibration testing system. We imposed simple harmonic motion to the stereo camera. In this paper, we use stereo camera Bumblebee. As the result of experiment, the camera vibration didn't affect average μ. We found positively correlation between standard deviation σ and amplitude A. And, we found negatively correlation between standard deviation σ and frequency F. We estimate the parameters of measurement error by the parameter of the camera vibration using these relationships. So, we establish the error model of the stereo measurement system. Moreover, we define existing probability of object using the parameter of measurement error.

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Shin'ya Okazaki, Takayuki Tanaka, Shun'ichi Kaneko, and Hidenori Takauji "Object recognition based on relationship between camera vibration and measurement error on stereo measurement", Proc. SPIE 7266, Optomechatronic Technologies 2008, 726619 (17 November 2008); https://doi.org/10.1117/12.807265

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KEYWORDS

Cameras

Stereoscopic cameras

Camera shutters

Statistical analysis

Imaging systems

Object recognition

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