Binocular Stereo Vision System for Measuring Distance of Apples in Orchard (Part 2)-Analysis of and solution to the correspondence problem.:Analysis of and solution to the correspondence problem

概要

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A method of image processing that compares colors and compositions at the same half-side of a visual area, which was divided by left and right eye-lines, was described to solve the correspondence problem of binocular stereo vision. It was found that a common cross area in the disparity between left and right images approximately corresponded by comparing the amounts of characteristic colors between the left and right images. The false images appearing in a composite image were restrained by composing on the same half-side of the visual area. This method was attempted to be applied to 15 pairs of apple images in the same order at left and right images, and 12 pairs of images of overlapped apples in photographs taken by two CCD color video cameras in apple orchards. The results were that the correspondence of the images of 90% in the same order was effective and that of the images of 80% in the overlapped ones was effective. The error of distance measurement was about 5% by composing the images at the same half-side of the visual area.
農業機械学会の論文