Active stereo platform: online epipolar geometry update
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 r...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SpringerOpen
2018-07-01
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| Series: | EURASIP Journal on Image and Video Processing |
| Subjects: | |
| Online Access: | http://link.springer.com/article/10.1186/s13640-018-0292-8 |
| _version_ | 1818591565362233344 |
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| author | Abdulla Mohamed Phil Culverhouse Angelo Cangelosi Chenguang Yang |
| author_facet | Abdulla Mohamed Phil Culverhouse Angelo Cangelosi Chenguang Yang |
| author_sort | Abdulla Mohamed |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-16T10:14:27Z |
| format | Article |
| id | doaj.art-679df038c81e4cdcb2c584b8a4e41411 |
| institution | Directory Open Access Journal |
| issn | 1687-5281 |
| language | English |
| last_indexed | 2024-12-16T10:14:27Z |
| publishDate | 2018-07-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | EURASIP Journal on Image and Video Processing |
| spelling | doaj.art-679df038c81e4cdcb2c584b8a4e414112022-12-21T22:35:29ZengSpringerOpenEURASIP Journal on Image and Video Processing1687-52812018-07-012018111610.1186/s13640-018-0292-8Active stereo platform: online epipolar geometry updateAbdulla Mohamed0Phil Culverhouse1Angelo Cangelosi2Chenguang Yang3Centre for Robotics and Neural Systems, Plymouth UniversityCentre for Robotics and Neural Systems, Plymouth UniversityCentre for Robotics and Neural Systems, Plymouth UniversityCentre for Robotics and Neural Systems, Plymouth UniversityAbstract 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.http://link.springer.com/article/10.1186/s13640-018-0292-8Active stereo visionEpipolar geometryCalibrationBinocular visionReal-time update |
| spellingShingle | Abdulla Mohamed Phil Culverhouse Angelo Cangelosi Chenguang Yang Active stereo platform: online epipolar geometry update EURASIP Journal on Image and Video Processing Active stereo vision Epipolar geometry Calibration Binocular vision Real-time update |
| title | Active stereo platform: online epipolar geometry update |
| title_full | Active stereo platform: online epipolar geometry update |
| title_fullStr | Active stereo platform: online epipolar geometry update |
| title_full_unstemmed | Active stereo platform: online epipolar geometry update |
| title_short | Active stereo platform: online epipolar geometry update |
| title_sort | active stereo platform online epipolar geometry update |
| topic | Active stereo vision Epipolar geometry Calibration Binocular vision Real-time update |
| url | http://link.springer.com/article/10.1186/s13640-018-0292-8 |
| work_keys_str_mv | AT abdullamohamed activestereoplatformonlineepipolargeometryupdate AT philculverhouse activestereoplatformonlineepipolargeometryupdate AT angelocangelosi activestereoplatformonlineepipolargeometryupdate AT chenguangyang activestereoplatformonlineepipolargeometryupdate |