2P2-B15 人工網膜を用いた単眼視差によるの奥行きの推算(ロボットビジョン)

概要

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A monocular optical distance sensing vision system was investigated that was based on an algorithm that utilizes motion parallax. The aim of this work is to build a new, robust, absolute distance sensing strategy suitable for unstructured and unprepared environments. In order to apply this strategy only one camera, which was a silicon retina sensor, was used to calculate a contrast enhanced input image together with a temporal change based on difference images on analog hardware. And Kalman filter was also used to decrease uncertainty from measurements and to do an optimal estimate. In this paper an experiment was performed where a static high contrast object was the primary target and the observer was accelerated with the help of gravity. The experimental data was compared with a Monte-Carlo simulation of the algorithm in order to help us build a noise distribution model of the system dynamics.
2008-06-06