Stereo pair design for cameras with a fovea

摘要

Abstract: In this paper we describe the methodology for the design and selection of a stereo pair when the cameras have a greater concentration of sensing elements in the center of the image plane (fovea). Binocular vision is important for the purpose of depth estimation, which in turn is important in a variety of applications such as gaging and autonomous vehicle guidance. Thus, proper design of a stereo pair is essential if we are to be successful in these areas. In this paper we assume that one camera has square pixels of size dv and the other has pixels of size rdv, where 0 $LS r $LSEQ 1 We then derive results for the average error, the maximum error and the error distribution in the depth determination of a point. These results can be shown to be a general form of the results for the case when the cameras have equal sized pixels. We discuss the behavior of the depth estimation error as we vary r and the tradeoffs between the extra processing time and increased accuracy. Knowing these results enables us to study the case when we have a pair of cameras with a fovea as described earlier.!4