Active stereo platform: online epipolar geometry update

Abstract

Abstract This paper presents a novel method to update a variable epipolar geometry platform directly from the motor encoder based on mapping the motor encoder angle to the image space angle, avoiding the use of feature detection algorithms. First, an offline calibration is performed to establish a relationship between the image space and the hardware space. Second, a transformation matrix is generated using the results from this mapping. The transformation matrix uses the updated epipolar geometry of the platform to rectify the images for further processing. The system has an overall error in the projection of ± 5 pixels, which drops to ± 1.24 pixels when the verge angle increases beyond 10°. The platform used in this project has 3° of freedom to control the verge angle and the size of the baseline.

Keywords

• Active stereo vision
• Epipolar geometry
• Calibration
• Binocular vision
• Real-time update