Depth Measurement Improvement Using Dithering Method in Sensor-shifted Stereo Cameras

Detta är en Master-uppsats från Blekinge Tekniska Högskola/Sektionen för ingenjörsvetenskap


The camera stereo system provides the mechanism for obtaining the 3D information of a target point. However, the depth estimation, in particular, suffers from the uncertainty caused by the quantization in the digital images. The dithering approach is a way to reduce the uncertainty of the depth reconstruction by applying a controlled readjustment for the stereo parameters, and estimating the depth from the images acquired before and after the readjustment. The skewed-parallel camera was proposed to be deployed as stereo of camera. The enhancement of the depth reconstruction uncertainty for this kind of stereo by the dithering approach was verified by simulation. This thesis verifies that enhancement by physical experiment. For that purpose, a prototype for the skewed-parallel camera is configured as stereo and used to measure the differential depths of some test targets. For the verification, the average error of the depth reconstruction using dithering approach is compared with the average error by the direct method. The research proves the improvement in the uncertainly of the depth reconstruction for the targets chosen for the experiment.

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