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This study develops a video-rate stereo range finding circuit to obtain the depth of objects in a scene by processing video signals (R, G, B, and brightness signals) from binocular CCD cameras. The electronic circuit implements a dynamic threshold method to decrease the affect of signal noise in characteristic point detection, where a video signal from each CCD camera is compared with multiple thresholds, shifting dynamically by feeding back the previous comparison result. Several object depth measurement experiments for simple indoor scenes show that the dynamic threshold method gives high acquisition and correct rates of depth data compared with those by a fixed threshold method for the video signals and a relative method for R, G, and B signals utilized in the authors' previous range finders.
Video-Rate Range Finder
Stereo Color CCD Camera
Detection of Characteristic Point
Digital Object Identifier: 10.1109/AIM.1999.803297
Published with permission from the copyright holder. This is the institute's copy, as published in Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on, 19-23 Sept. 2006, Pages 932-937.
Copyright © 1999 IEEE. All rights reserved.
Proceedings of the 1999 IEEE/ASME lntemational Conference on Advanced Intelligent Mechatronics
Institute of Electrical and Electronics Engineers
1999 IEEE/ASME lntemational Conference on Advanced Intelligent Mechatronics
Atlanta, Georgia, USA