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Sat, 10 Oct 2009
Embedded Stereo Correspondence on the Surveyor SVS Blackfins
Just posted on The Streeb-Greebling Diaries, this is a very helpful explanation and demonstration of stereo correspondence on the Surveyor SVS (stereo vision system) based on code from the Sentience Project.
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A video showing the results of the stereo correspondence algorithm embedded on the Surveyor SVS. This is running on two Blackfin DSPs with synchronised frame capture. Larger red spots correspond to objects closer to the cameras. The big metal object is the left shoulder of the GROK2 robot.
There is some "pollution" where matching of horizontally oriented features causes bad matches in the surrounding region of the image, but most of the time the spot sizes are inversely proportional to range. There is always a certain amount of noise in the matching, but if the features are converted into sensor models and used to update an occupancy grid then this tends to cancel out with repeated overlapping observations.
Ordinarily horizontally oriented features can't be matched, at least by sparse feature based correspondence methods, but it does seem to be a useful heuristic to apply similar disparities to horizontally oriented features which are in the neighbourhood of matched vertically oriented ones. Even though it sometimes produces errors, this helps to provide more information about the structure of the environment which can be useful when creating maps or avoiding obstacles.
Posted Sat, 10 Oct 2009 09:34 | HTML Link | see additional stories ...