Development of a video-rate stereo machine

A video-rate stereo machine has been developed at CMU with the capability of generating a dense range map, aligned with an intensity image, at the video rate. The target performance of the CMU video-rate stereo machine is: 1) multi-image input of 6 cameras; 2) high throughput of 30 million point/spl times/disparity measurement per second; 3) high frame rate of 30 frame/sec; 4) a dense depth map of 256/spl times/240 pixels; 5) disparity search range of up to 60 pixels; 6) high precision of up to 7 bits (with interpolation); and 7) uncertainty estimation available for each pixel.

Authors

• Takeo Kanade
• Hiroshi Kano
• Shigeru Kimura
• Atsushi Yoshida
• Kazuo Oda

Keywords

• Cameras
• Throughput
• Pixel
• High-resolution imaging
• Optical imaging
• Layout
• Equations
• Length measurement
• Robot kinematics
• Interpolation
• Input Image
• Uncertainty Estimation
• Image Intensity
• Depth Map
• Search Range
• Video Rate
• Global Optimization
• Image Pairs
• Small Window
• Image Point
• Simple Fact
• Hardware Implementation
• Image Coordinates
• Histogram Equalization
• Stereo Images
• Sum Of Squared Differences
• Outdoor Scenes
• Laplacian Of Gaussian
• Stereo Pairs
• Laplacian Of Gaussian Filter
• Disparity Map
• Baseline Length
• Frame Grabber
• Stereo Image Pairs
• Disparity Range